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…
scite is a Brooklyn-based startup that helps researchers better discover and evaluate scientific articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by researchers from dozens of countries and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.