GP-GPIS-OPT: Grasp planning with shape uncertainty using Gaussian process implicit surfaces and Sequential Convex Programming

Computing grasps for an object is challenging when the object geometry is not known precisely. In this paper, we explore the use of Gaussian process implicit surfaces (GPISs) to represent shape uncertainty from RGBD point cloud observations of objects. We study the use of GPIS representations to sel...

Full description

Bibliographic Details

Published in:	Proceedings - IEEE International Conference on Robotics and Automation pp. 4919 - 4926
Main Authors:	Mahler, Jeffrey, Patil, Sachin, Kehoe, Ben, van den Berg, Jur, Ciocarlie, Matei, Abbeel, Pieter, Goldberg, Ken
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.05.2015
Subjects:	Approximation methods Force Grippers Sensors Shape Three-dimensional displays Uncertainty
ISSN:	1050-4729
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!