Grasp exploration for 3D object shape representation using probabilistic map

Diego R. Faria, Ricardo Martins, Jorge Dias

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


In this work it is shown the representation of 3D object shape acquired from grasp exploration. Electromagnetic motion tracking sensors are used on the fingers for object contour following to acquire the 3D points to represent its shape using a probabilistic volumetric map. It is used the object referential for its representation. For that, it is found the center of mass of the 3D object through the moments to define its referential. The occupancy of each individual voxel in the map is assumed to be independent from the other voxels occupancy. The posteriori achieved from Bayes' rule is the probability distribution on the occupations percentage for each voxel. The probabilistic map in a Cartesian system is converted to the spherical coordinate system for visualization with more details on its surface.

Original languageBritish English
Title of host publicationEmerging Trends in Technological Innovation
Subtitle of host publicationFirst IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2
EditorsLuis M. Camarinha-Matos, Pedro Pereira, Luis Ribeiro
Number of pages8
StatePublished - 2010

Publication series

NameIFIP Advances in Information and Communication Technology
ISSN (Print)1868-4238


  • Grasp exploration
  • Object shape representation
  • Probabilistic map


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