机器人自主抓取的三维点云基本形体简化算法

Aiming at the unstructured features of fetching tasks,a basic form simplification algorithm based on point cloud of irregular object was proposed to describe the shapes of complex objects,thus providing ideas for the selection of grasping strategies and improving the accuracy of autonomous grasping of robots.Complex irregular objects were simplified into simple objects that composed of basic shapes.3D data points of object were segmented based on the three dimensional grid segmentation algorithm.Each parts of the segmented object was fitted into a sphere,ellipsoid,cylinder or parallelepiped according to the optimal fitting algorithm to realize simplification of complex object.Experimental results show that the proposed algorithm is robust and can be applied to irregular objects with different shapes and postures.