Journal of Computational Physics
Representing and Recognizing the Visual Appearance of Materials using Three-dimensional Textons
International Journal of Computer Vision
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
3D zernike descriptors for content based shape retrieval
SM '03 Proceedings of the eighth ACM symposium on Solid modeling and applications
CBAIVL '00 Proceedings of the IEEE Workshop on Content-based Access of Image and Video Libraries (CBAIVL'00)
Surface registration by matching oriented points
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
SMI '04 Proceedings of the Shape Modeling International 2004
"GrabCut": interactive foreground extraction using iterated graph cuts
ACM SIGGRAPH 2004 Papers
Fully Automatic Registration of 3D Point Clouds
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A review of recent range image registration methods with accuracy evaluation
Image and Vision Computing
Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Autotagging to improve text search for 3d models
Proceedings of the 8th ACM/IEEE-CS joint conference on Digital libraries
Hand Posture Subspaces for Dexterous Robotic Grasping
International Journal of Robotics Research
HERB: a home exploring robotic butler
Autonomous Robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Data-driven grasping with partial sensor data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Learning grasping points with shape context
Robotics and Autonomous Systems
PANORAMA: A 3D Shape Descriptor Based on Panoramic Views for Unsupervised 3D Object Retrieval
International Journal of Computer Vision
Sampling strategies for bag-of-features image classification
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part IV
Manipulation of unmodeled objects using intelligent grasping schemes
IEEE Transactions on Fuzzy Systems
Learning of grasp selection based on shape-templates
Autonomous Robots
Stable grasping under pose uncertainty using tactile feedback
Autonomous Robots
| Hi-index | 0.00 |
This paper propose a novel framework for a data driven grasp planner that indexes partial sensor data into a database of 3D models with known grasps and transfers grasps from those models to novel objects. We show how to construct such a database and also demonstrate multiple methods for matching into it, aligning the matched models with the known sensor data of the object to be grasped, and selecting an appropriate grasp to use. Our approach is experimentally validated in both simulated trials and trials with robots.