2024/12/05 by Joan Badia Torres, Torres, Joan Badia, Abhijit Makhal +6
Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Image and Video Processing (eess.IV) #Robot Manipulation and Learning #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Robotics and Sensor-Based Localization #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2412.04174
openalex publication_date 2024/12/05 · openalex created_date 2024/12/07 · openalex updated_date 2026/07/28
One of the strategies to detect the pose and shape of unknown objects is their geometric modeling, consisting on fitting known geometric entities. Classical geometric modeling fits simple shapes such as spheres or cylinders, but often those don't cover the variety of shapes that can be encountered. For those situations, one solution is the use of superquadrics, which can adapt to a wider variety of shapes. One of the limitations of superquadrics is that they cannot model objects with holes, such as those with handles. This work aims to fit supersurfaces of degree four, in particular supertoroids, to objects with a single hole. Following the results of superquadrics, simple expressions for the major and minor radial distances are derived, which lead to the fitting of the intrinsic and extrinsic parameters of the supertoroid. The differential geometry of the surface is also studied as a function of these parameters. The result is a supergeometric modeling that can be used for symmetric objects with and without holes with a simple distance function for the fitting. The proposed algorithm expands considerably the amount of shapes that can be targeted for geometric modeling.