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Proceedings Paper

Parts Description And Acquisition Using Vision
Author(s): Michael Brady
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Paper Abstract

We propose a representation of two-dimensional shape and contour that has local support. A contour and region is segmented into subparts with associated partly specified descriptions that are iteratively refined by the descriptions of adjacent subparts in a process of local frame propagation. Curved shapes are described in terms of smoothed local symmetries that combine features of generalized cylinders and the Symmetric Axis Transform. Shape descriptions, together with a local potential function, are used to determine grasp points for a parallel jaw gripper.

Paper Details

Date Published: 22 November 1982
PDF: 9 pages
Proc. SPIE 0336, Robot Vision, (22 November 1982); doi: 10.1117/12.933607
Show Author Affiliations
Michael Brady, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 0336:
Robot Vision
Azriel Rosenfeld, Editor(s)

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