Directed Curvature Histograms for Robotic Grasping (Unknown language)

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Three-dimensional descriptors are a common tool nowadays, used in a wide range of tasks. Most of the descriptors that have been proposed in the literature focus on tasks such as object recognition and identification. This paper proposes a novel three-dimensional local descriptor, structured as a set of histograms of the curvature observed on the surface of the object in different directions. This descriptor is designed with a focus on the resolution of the robotic grasping problem, especially on the determination of the orientation required to grasp an object. We validate our proposal following a data-driven approach using grasping information and examples generated using the Gazebo simulator and a simulated PR2 robot. Experimental results show that the proposed descriptor is well suited for the grasping problem, exceeding the performance observed with recent descriptors.

Table of contents conference proceedings

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1
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LightNet: A Lightweight 3D Convolutional Neural Network for Real-Time 3D Object Recognition
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17
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Boulch, Alexandre / Saux, Bertrand Le / Audebert, Nicolas | 2017
25
RGB-D to CAD Retrieval with ObjectNN Dataset
Hua, Binh-Son / Truong, Quang-Trung / Tran, Minh-Khoi / Pham, Quang-Hieu / Kanezaki, Asako / Lee, Tang / Chiang, HungYueh / Hsu, Winston / Li, Bo / Lu, Yijuan et al. | 2017
33
3D Hand Gesture Recognition Using a Depth and Skeletal Dataset
Smedt, Quentin De / Wannous, Hazem / Vandeborre, Jean-Philippe / Guerry, J. / Saux, B. Le / Filliat, D. | 2017
39
Large-Scale 3D Shape Retrieval from ShapeNet Core55
Savva, Manolis / Yu, Fisher / Su, Hao / Kanezaki, Asako / Furuya, Takahiko / Ohbuchi, Ryutarou / Zhou, Zhichao / Yu, Rui / Bai, Song / Bai, Xiang et al. | 2017
51
Shape Similarity System driven by Digital Elevation Models for Non-rigid Shape Retrieval
Craciun, Daniela / Levieux, Guillaume / Montes, Matthieu | 2017
55
Sketch-based 3D Object Retrieval with Skeleton Line Views - Initial Results and Research Problems
Zhao, Xueqing / Gregor, Robert / Mavridis, Pavlos / Schreck, Tobias | 2017
59
GSHOT: a Global Descriptor from SHOT to Reduce Time and Space Requirements
Mateo, Carlos M. / Gil, Pablo / Torres, Fernando | 2017
63
A Framework Based on Compressed Manifold Modes for Robust Local Spectral Analysis
Haas, Sylvain / Baskurt, Atilla / Dupont, Florent / Denis, Florence | 2017
67
Protein Shape Retrieval
Song, Na / Craciun, Daniela / Christoffer, Charles W. / Han, Xusi / Kihara, Daisuke / Levieux, Guillaume / Montes, Matthieu / Qin, Hong / Sahu, Pranjal / Terashi, Genki et al. | 2017
75
Point-Cloud Shape Retrieval of Non-Rigid Toys
Limberger, F. A. / Wilson, R. C. / Aono, M. / Audebert, N. / Boulch, A. / Bustos, B. / Giachetti, A. / Godil, A. / Saux, B. Le / Li, B. et al. | 2017
85
Deformable Shape Retrieval with Missing Parts
Rodolà, E. / Cosmo, L. / Litany, O. / Bronstein, M. M. / Bronstein, A. M. / Audebert, N. / Hamza, A. Ben / Boulch, A. / Castellani, U. / Do, M. N. et al. | 2017
95
Retrieval of Surfaces with Similar Relief Patterns
Biasotti, S. / Thompson, E. Moscoso / Aono, M. / Hamza, A. Ben / Bustos, B. / Dong, S. / Du, B. / Fehri, A. / Li, H. / Limberger, F. A. et al. | 2017
105
3D Mesh Unfolding via Semidefinite Programming
Liu, Juncheng / Lian, Zhouhui / Xiao, Jianguo | 2017
113
Directed Curvature Histograms for Robotic Grasping
Schulz, Rodrigo / Guerrero, Pablo / Bustos, Benjamin | 2017
121
Semantic Correspondence Across 3D Models for Example-based Modeling
Léon, Vincent / Itier, Vincent / Bonneel, Nicolas / Lavoué, Guillaume / Vandeborre, Jean-Philippe | 2017
129
Towards Recognizing of 3D Models Using A Single Image
Rashwan, Hatem A. / Chambon, Sylvie / Morin, Geraldine / Gurdjos, Pierre / Charvillat, Vincent | 2017
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