Parts Description And Acquisition Using Vision

We propose a representation of two-dimensional shape and contour that has local support. A contour and region is segmented into subparts with associated partly specified descriptions that are iteratively refined by the descriptions of adjacent subparts in a process of local frame propagation. Curved shapes are described in terms of smoothed local symmetries that combine features of generalized cylinders and the Symmetric Axis Transform. Shape descriptions, together with a local potential function, are used to determine grasp points for a parallel jaw gripper.