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SpectGRASP: Robotic Grasping by Spectral Correlation
[article]
2021
arXiv
pre-print
This paper presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extracts contact points on the object's surface matching the hand configuration. It neither requires offline training nor a-priori object models. We propose a novel Binary Extended Gaussian Image (BEGI), which represents the point cloud surface normals of both object and robot fingers as signals on a 2-sphere. Spherical
arXiv:2107.12492v1
fatcat:jkhjrdo3rfeo5gvaurcmd3y34i