SpectGRASP: Robotic Grasping by Spectral Correlation
Maxime Adjigble,Cristiana de Farias,Rustam Stolkin,Naresh Marturi,Maxime Adjigble,Cristiana de Farias,Rustam Stolkin,Naresh Marturi
This paper presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extracts contact points on the object’s surface matching the hand configuration. It neither requires offline training nor a-priori object models. We propose a novel Binary Extended Gaussian Image (BEGI), which represents the ...
