Grasping visual symmetry
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 724-733
- https://doi.org/10.1109/iccv.1993.378142
Abstract
Visual representations are chosen to meet the re- quirements of specified tasks such as object recognition or siereoscopic matching. When vision is regarded as a haptic sense, a new operational description is called for, in support of dezirous manipulation. In the con- tett of two-fingered grasp, an appropriate description can be constructed in terms of local reflectional and rotational symmetry. Relaied to sgmmetry-based rep- resentations that have been used in pattern and object recognition, ifs siructure is deiemined, not heuristi- cally, but precisely, by the natun of ihe grasping iask. Its value is demonstrated by its incorporation into the control of a robot that can manipulate objects under visual guidance.Keywords
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