METHOD FOR DETECTING GRASPING POINTS USING CATEGORY RECOGNITION AND COMPUTER READABLE RECORD MEDIUM THEREOF

摘要

PURPOSE: A method for generating a nip point by range recognition and a computer-readable recording medium including a program for the method are provided to recognize and grip objects in various shapes in the same range by generating a nip point by recognizing the objects in the same range. CONSTITUTION: A CPU(Central Processing Unit) explores an object gripping direction after obtaining a 3D outline from image data(S10,S20). The CPU extracts a gripping cue for each set gripping cue and generates a candidate gripping area for each gripping cue(S30). The CPU selects one of candidate pairs in an optimal gripping area after the points of nip point candidate pairs are extracted(S40,S50). The CPU generates a nip point manifold(S60). [Reference numerals] (AA) Start; (BB) End; (S10) Step of obtaining a 3D outline from image data; (S20) Step of searching a basic or function grasping type; (S30) Step of generating a candidate grasping area; (S40) Step of extracting grasping point candidate pairs; (S50) Step of selecting a grasping point pair; (S60) Step of generating a grasping point manifold;