Decomposition of Multimodal Data for Affordance-based Identification of Potential Graps
|Title||Decomposition of Multimodal Data for Affordance-based Identification of Potential Graps|
|Publication Type||Conference Paper|
|Year of Publication||2012|
|Authors||Dornbusch, D., H. Haschke, S. Menzel, and H. Wersing|
|Conference Name||International Conference on Pattern Recognition Applications and Methods|
|Conference Location||Vilamoura, Algarve, Portugal|
In this paper, we apply standard decomposition approaches to the problem of finding local correlations in multi-modal and high-dimensional grasping data, particularly to correlate the local shape of cup-like objects to their associated local grasp configurations. We compare the capability of several decomposition methods to establish these task-relevant, inter-modal correlations and indicate how they can be exploited to find potential contact points and hand postures for novel, though similar, objects.