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An algorithm for selecting nearest neighbors at a variable scale rather than a fixed search radius in point cloud neighbor search is proposed in this paper. We employ the concepts in differential geometry and divide the point cloud into different clusters according to their surface types. Not only the distance metric but also the clusters' surface type is taken into condition when we search the neighbors...
3D vision-based recognition as well as grasping of complex objects is required not only for detection and categorization but also for pose estimation and robotic pick-and-place operations. In this paper, we propose a structured light camera based 3D visual perception and tracking system application with robot arm grasping for manufacturing. In the first step, we use a geometric surface primitive patch...
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