A point and command interface for grasping unknown objects with robotic manipulators
Published in Politecnico di Milano, 2017
Recommended citation: Correia Marques, Joao Marcos. (2017). "A point and command interface for grasping unknown objects with robotic manipulators." Politecnico di Milano. https://www.politesi.polimi.it/bitstream/10589/137453/5/2017_12_Correia_Marques.pdf
This is my master’s thesis! In it, I designed a point-and-command interface to enable issuing grasping commands to a robot without requiring any data for training an image segmentation algorithm. We implement and adapt a graph-theory based image segmenter to use RGBD images from a Kinect. In the end, we were able to grasp fully novel objects (including a freshly bought banana) - all while running on an old laptop.