![](bg7.png)
Because of its regular shape, the volumetric
estimation of bottles had the lowest modeling error,
as can be seen from Table. 1. The modeled primitive
captured efficiently the particularity of the surfaces,
thus resulting in a precise surface estimation. On the
other hand, due to their irregular shape, a higher
estimation error has been determined for the
considered potatoes. An example of obtained test
results can be seen in Table 1, were
Φ, θ and ϕ are
Euler angles and x, y, and z are positions along the
three Cartesian axes, respectively.
5 CONCLUSIONS
In this paper, an object volumetric modeling
algorithm for objects of interest encountered in real
world service robotics environments has been
proposed. The goal of the approach is to determine
as precisely as possible the 3D particular surface
structure of different objects. The calculated 3D
model can be further used for the purpose of visually
guided object grasping. As future work the authors
consider the time computation enhancement of the
proposed procedure through parallel computational
devices (e.g. Graphic Processors), as well as the
application of the method to other computer vision
areas, such as 3D medical imaging.
ACKNOWLEDGEMENTS
This paper is supported by the Sectoral Operational
Program Human Resources Development (SOP
HRD), financed from the European Social Fund and
by the Romanian Government under the projects
POSDRU/107/1.5/S/ 76945 and POSDRU/
89/1.5/S/59323.
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