Fig. 12
From: Automatic grasp planning for self-adjustable gripper frames
Collection of images showing the grasp planning process for a wooden EPAL-pallet: a grey-scaled depth image acquisition, b product-background segmentation (\(n = 3\)), c world coordinate conversion, contour smoothing and grasp planning (\(\varPsi = 0.4\)), and d the resulting view presented to the user via the GUI