Applied Informatics Group

Analyse von Punktwolken für das Greifen in einem statischen Szenario

TitleAnalyse von Punktwolken für das Greifen in einem statischen Szenario
Publication TypeBachelor Thesis
AuthorsLücking, P.
AbstractUsing the newly released Point Cloud Library for object and plane processing is a promising way that should lead to a usable and functional program. The goal of this project is to implement such a program in order to recognize objects by their shape, size and orientation. The implemented module is capable of processing the input point cloud from e.g. a KINECT and to calculate, segment and cluster the clouds describing an object. The scenario is to segment a desk-plane and identify and cluster individual objects by their shape. The goal is to recognize if an object is graspable and which strategy could lead to a successful execution of grasping given the parameters by the tool like the KATANA-arm. All this information about size, location and graspability is stored in the ActiveMemory of the BIRON system for further usage.
Supervised ByWienke, J., and L. Ziegler
Academic DepartmentFaculty of Technology
UniversityBielefeld University
Thesis.pdf1.37 MB

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