Exact(15)
It can efficiently estimate the point correspondence and the relevant affine transformational parameters between the feature points of the object shape and the reference shape.
Theoretical evaluation of image quality is usually based on ray tracing a great number of rays, originating in on-axis and off-axis points of the object and, if necessary, related to several representative wavelengths of the illuminating radiation.
Instead, every CSG object has within itself a 3-by-x matrix (where x is dependent on the resolution of the object) that contains all the surface points of the object in a -1 to 1 scale in all three dimensions.
The first stage finishes here when it has two points of the object.
Nodes can be treated as characteristic points of the object for modeling.
Fig. 26 This figure shows the difference between the scanned points and the actual points of the object in Fig. 24.
Similar(45)
We show that the off-diagonal elements of this matrix provide important clues about the angular uncertainties of points on the object's surface.
In general, quality measures may consider: (a) locations of the contact points on the object, (b) directions of the forces applied at the contact points, (c) magnitudes of the applied forces at the contact points, and (d) gripper configuration.
Grasp planning includes the determination of finger contact points on the object and the choice of an appropriate gripper configuration.
Main problem : determination of contact points on the object boundary.
Several models plan grasps in terms of finger contact points on the object.
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