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...

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Vydané v:	Proceedings - IEEE International Conference on Robotics and Automation s. 4919 - 4926
Hlavní autori:	Mahler, Jeffrey, Patil, Sachin, Kehoe, Ben, van den Berg, Jur, Ciocarlie, Matei, Abbeel, Pieter, Goldberg, Ken
Médium:	Konferenčný príspevok..
Jazyk:	English
Vydavateľské údaje:	IEEE 01.05.2015
Predmet:	Approximation methods Force Grippers Sensors Shape Three-dimensional displays Uncertainty
ISSN:	1050-4729
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