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Using Tabu Search to Find Optimal Grasps in Scenes Represented by Triangular Meshes

F. Ade, M. Rutishauser and M.Stricker
Intelligent Robots, Sensing, Modeling and Planning
December 1997


Tabu search, an iterative discrete optimization technique which is widely used in the Operations Research community is virtually unknown in Computer Vision and related fields. This paper aims to fill this gap by introducing tabu search through two simple examples and then by describing an implementation of tabu search in a robot vision task. In this task the robot has to take away unmodeled objects from a heap. This heap is represented by a 3-dimensional surface description in form of a mesh of triangles. Tabu search is used to select optimal grasping opportunities in this 3D scene. Then the grasps are performed and the objects are taken away.

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  author = {F. Ade and M. Rutishauser and M.Stricker},
  title = {Using Tabu Search to Find Optimal Grasps in Scenes Represented by Triangular Meshes},
  booktitle = {Intelligent Robots, Sensing, Modeling and Planning},
  year = {1997},
  month = {December},
  pages = {287--301},
  editor = {R.C.Bolles and H. Bunke and H.Noltemeier},
  publisher = {World Scientific},
  keywords = {grasping, perceptual, planning, range data, robot vision, understanding}