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Approximating shapes, positions and sizes from point cloud data for robotic grasping

Author: Paul Daniel (pdd@mp.aau.dk)

Approximation process Console output

YouTube Video:

video

The following pseudocode shows the structure of the created algorithm used for finding the approximations.

Final project for the TU Berlin course "AI & Robotics: Lab Course". To reproduce set up rai as described here. After successful setup, switch to the folder course3-Simulation:

cd robotics-course/course3-Simulation

clone the this repo there:

git clone https://github.com/PaulDanielML/Point-Cloud-Object-Classification.git

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Using k-order Markov Path Optimization to fit shapes to sparse point cloud data.

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