Abstract
In this paper we present a method for approximating complete models of objects with 3D shape primitives, by exploiting common symmetries in objects of daily use. Our proposed approach reconstructs boxes and cylindrical parts of objects from sampled point cloud data, and produces CAD-like surface models needed for generating grasping strategies. To verify the results, we present a set of experimental results using real-world data-sets containing a large number of objects from different views.
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