Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Active shape models—their training and application
Computer Vision and Image Understanding
SMI '04 Proceedings of the Shape Modeling International 2004
Task planning for intelligent robot manipulation
AIAP'07 Proceedings of the 25th conference on Proceedings of the 25th IASTED International Multi-Conference: artificial intelligence and applications
Superquadrics and Angle-Preserving Transformations
IEEE Computer Graphics and Applications
A survey of content based 3D shape retrieval methods
Multimedia Tools and Applications
Statistical Models of Shape: Optimisation and Evaluation
Statistical Models of Shape: Optimisation and Evaluation
Reconstructing a 3-D structure with multiple deformable solid primitives
Computers and Graphics
Unique signatures of histograms for local surface description
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Manipulator and object tracking for in-hand 3D object modeling
International Journal of Robotics Research
Combined 2D-3D categorization and classification for multimodal perception systems
International Journal of Robotics Research
Editorial: Special issue "Autonomous Grasping"
Robotics and Autonomous Systems
Extracting data from human manipulation of objects towards improving autonomous robotic grasping
Robotics and Autonomous Systems
A survey of methods for volumetric scene reconstruction from photographs
VG'01 Proceedings of the 2001 Eurographics conference on Volume Graphics
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In this paper, a simultaneous 3D volumetric segmentation and reconstruction method, based on the so-called Generic Fitted Shapes (GFS) is proposed. The aim of this work is to cope with the lack of volumetric information encountered in visually controlled mobile manipulation systems equipped with stereo or RGB-D cameras. Instead of using primitive volumes, such as cuboids or cylinders, for approximating objects in point clouds, their volumetric structure has been estimated based on fitted generic shapes. The proposed GFSs can capture the shapes of a broad range of object classes without the need of large a-priori shape databases. The fitting algorithm, which aims at determining the particular geometry of each object of interest, is based on a modified version of the active contours approach extended to the 3D Cartesian space. The proposed volumetric segmentation system produces comprehensive closed object surfaces which can be further used in mobile manipulation scenarios. Within the experimental setup, the proposed technique has been evaluated against two state-of-the-art methods, namely superquadrics and 3D Object Retrieval (3DOR) engines.