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When planning robotic grasping and manipulation maneuvers, knowledge of the shape and pose of the object of interest is critical information. In order for an autonomous or semi-autonomous system to operate intelligently in an unstructured environment and interact with novel objects, it must have the ability to recover this information at run time, even when no a priori information of the object is...
Knowing the shape and pose of objects of interest is critical information when planning robotic grasping and manipulation maneuvers. The ability to recover this information from objects for which there is no a priori knowledge is a valuable behavior for an autonomous or semi-autonomous robot. In this paper, we present methods and algorithms for the shape and pose recovery of unknown objects using...
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