DOI: 10.1007/978-3-642-11628-5_23
View full text

Abstract: Abstract. In this work, the representation of 3D object shape acquired from grasp exploration is presented. Electromagnetic motion tracking sensors are attached to the fingertips for object contour following, acquiring thus the 3D points to represent the object shape using a probabilistic volumetric map. The object-centric representation is adopted by finding the centroid through 3D moment invariants. The occupancy of each individual voxel in the map is assumed to be independent from the other voxels occupanc…

Expand abstract