Authors:
Daniel Dornbusch
1
;
Robert Haschke
1
;
Stefan Menzel
2
and
Heiko Wersing
2
Affiliations:
1
Bielefeld University, Germany
;
2
Honda Research Institute Europe GmbH, Germany
Keyword(s):
Decomposition algorithms, Multimodal data, Grasp identification.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
ICA, PCA, CCA and other Linear Models
;
Matrix Factorization
;
Missing Data
;
Pattern Recognition
;
Shape Representation
;
Software Engineering
;
Sparsity
;
Theory and Methods
Abstract:
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.