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Grasp planning is crucial for many robotic applications such as object manipulation and object transport. Planning stable grasps is a challenging problem. Many parameters such as object geometry, hand geometry and kinematics, hand-object contacts have to be considered, making the space of grasps too large to be exhaustively searched. This paper presents a general approach for planning grasps on 3D...
This paper presents a volumetric stereo and silhouette fusion algorithm for acquiring high quality models from multiple calibrated photographs. Our method is based on computing and merging depth maps. Different from previous methods of this category, the silhouette information is also applied in our algorithm to recover the shape information on the textureless and occluded areas. The proposed algorithm...
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