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This paper presents an original approach for 3D mesh approximate convex decomposition. The proposed algorithm computes a hierarchical segmentation of the mesh triangles by applying a set of topological decimation operations to its dual graph. The decimation strategy is guided by a cost function describing the concavity and the shape of the detected clusters. The generated segmentation is finally exploited...
In this paper we present a framework for 3D geometric shape segmentation for close-range scenes used in mobile manipulation and grasping, out of sensed point cloud data. Our proposed approach proposes a robust geometric mapping pipeline for large input datasets that extracts relevant objects useful for a personal robotic assistant to perform manipulation tasks. The objects are segmented out from partial...
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