Summary: Recognizing Polygonal Parts from Width Measurements
Esther M. Arkin (1) \Lambda Martin Held (1);(2) y
Joseph S. B. Mitchell (1) z Steven S. Skiena (3) x
(1) Department of Applied Mathematics and Statistics
State University of New York, Stony Brook, NY 11794­3600
(2) Institut f¨ur Computerwissenschaften
Universit¨at Salzburg, A­5020 Salzburg, Austria
(3) Department of Computer Science
State University of New York, Stony Brook, NY 11794­4400
[Submitted to: CGTA] [October 31, 1995]
Abstract
Automatic recognition of parts is an important problem in many industrial applications. One
model of the problem is: Given a finite set of polygonal parts, use a set of ``width'' measurements
taken by a parallel­jaw gripper to determine which part is present. We study the problem
of computing efficient strategies (``grasp plans''), with the goal to minimize the number of
measurements necessary in the worst case. We show that finding a minimum length grasp plan
is NP­hard, and give a polynomial time approximation algorithm that is simple and produces
a solution that is within a log factor from optimal.
\Lambda Partially supported by NSF Grants ECSE­8857642 and CCR­9204585.
y Partially supported by grants from Boeing Computer Services, and by NSF Grant DMS­9312098.

Source: Arkin, Estie - Department of Applied Mathematics and Statistics, SUNY at Stony Brook

Collections: Mathematics