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Image-based 6-DoF pose estimation of arbitrarily shaped 3D objects based on their shape is a rarely studied problem. Most existing image-based methods for pose estimation either exploit textural information in form of local features or, if shape-based, rely on the extraction of straight line segments or other primitives. Straight-forward extensions of 2D approaches are potentially more general, but...
Typical tasks of future service robots involve grasping and manipulating a large variety of objects differing in size and shape. Generating stable grasps on 3D objects is considered to be a hard problem, since many parameters such as hand kinematics, object geometry, material properties and forces have to be taken into account. This results in a high-dimensional space of possible grasps that cannot...
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