Grasp exploration for 3D object shape representation using probabilistic map

Diego R. Faria; Ricardo Martins; Jorge Dias

doi:10.1007/978-3-642-11628-5_23

Grasp exploration for 3D object shape representation using probabilistic map

Diego R. Faria, Ricardo Martins, Jorge Dias

Electrical Engineering

University of Coimbra, Institute of Systems and Robotics

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

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 language	British English
Title of host publication	Emerging Trends in Technological Innovation
Subtitle of host publication	First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2
Editors	Luis M. Camarinha-Matos, Pedro Pereira, Luis Ribeiro
Pages	215-222
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-642-11628-5_23
State	Published - 2010

Publication series

Name	IFIP Advances in Information and Communication Technology
Volume	314
ISSN (Print)	1868-4238

Keywords

Grasp exploration
Object shape representation
Probabilistic map

Access to Document

10.1007/978-3-642-11628-5_23

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Faria, D. R., Martins, R., & Dias, J. (2010). Grasp exploration for 3D object shape representation using probabilistic map. In L. M. Camarinha-Matos, P. Pereira, & L. Ribeiro (Eds.), Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2 (pp. 215-222). (IFIP Advances in Information and Communication Technology; Vol. 314). https://doi.org/10.1007/978-3-642-11628-5_23

Faria, Diego R. ; Martins, Ricardo ; Dias, Jorge. / Grasp exploration for 3D object shape representation using probabilistic map. Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. editor / Luis M. Camarinha-Matos ; Pedro Pereira ; Luis Ribeiro. 2010. pp. 215-222 (IFIP Advances in Information and Communication Technology).

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abstract = "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.",

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Faria, DR, Martins, R & Dias, J 2010, Grasp exploration for 3D object shape representation using probabilistic map. in LM Camarinha-Matos, P Pereira & L Ribeiro (eds), Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. IFIP Advances in Information and Communication Technology, vol. 314, pp. 215-222. https://doi.org/10.1007/978-3-642-11628-5_23

Grasp exploration for 3D object shape representation using probabilistic map. / Faria, Diego R.; Martins, Ricardo; Dias, Jorge.
Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. ed. / Luis M. Camarinha-Matos; Pedro Pereira; Luis Ribeiro. 2010. p. 215-222 (IFIP Advances in Information and Communication Technology; Vol. 314).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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Faria DR, Martins R, Dias J. Grasp exploration for 3D object shape representation using probabilistic map. In Camarinha-Matos LM, Pereira P, Ribeiro L, editors, Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. 2010. p. 215-222. (IFIP Advances in Information and Communication Technology). doi: 10.1007/978-3-642-11628-5_23

Grasp exploration for 3D object shape representation using probabilistic map

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