2008 The International Journal of Robotics Research

[ijrr-0278364907087172] Robotic Grasping of Novel Objects using Vision [PDF] [project page] [notes]

Ashutosh Saxena, Justin Driemeyer, Andrew Ng.

read 22/05/2017

Objective

Determine zone were to grasp object using a 2 finger grasp

Synthesis

Use synthetic dataset with annotated good graps regions

Use hand-crafted features (edge and texture filters)

Probabilistic model for locations of the image predicting whether they are good locations for a grasp from several patches

If several images, triangulate back to 3D position on object