Finding the best grasp position or point?

Question

I have a point cloud data, where the detected objects are bounded by the bounding box. We were planning to suck(grasp) it from the top plane of the object. How do I go about determining the co-ordinates for grasping on any surface using PCL? I am new to programming, any help extended here is appreciated.

Thanks!

Answer 1

Grasp detection is an open problem with new state of the art solutions appearing every month or so. As far as I know PCL has no ready to use solution for that. So, you'd better google for publications with newest solutions in this area. Here are the articles I found useful for me:

• agile_grasp ROS node and "Using Geometry to Detect Grasps."
• Real-Time Grasp Detection Using Convolutional Neural Networks
• Deep Learning for Detecting Robotic Grasps
• GraspIt!

Hope this helps.