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A new method for fast visual grasp of unknown objects using a camera mounted on a robot in an eye-in-hand configuration is presented. The method is composed of a fast iterative object surface reconstruction algorithm and of a local grasp planner, evolving in a synchronized parallel way. The reconstruction algorithm makes use of images taken by a camera carried by the robot. A reconstruction sphere,...
A points surface reconstruction algorithm of 3D object models from multiple silhouettes is proposed in this paper. Some images of the target object are taken from a circular trajectory by a robot with a camera mounted in an eye-in-hand configuration. The silhouettes of the observed object are evaluated for each view using a blob analysis process, and from those a set of points that sample a reconstruction...
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