Autonomous Robotic Manipulation: Real-Time, Deep-Learning Approach for Grasping of Unknown Objects

Algorithm 1

Preprocessing algorithm.

(1)	Capture image (with likelihood of invalid depth data)
(2)	Generate 2D gradient of the depth map
(3)	Threshold the gradient to produce a binary mask
(4)	Flood-fill the mask. At this stage a mask that indicates all the invalid spots in the depth image is generated
(5)	Dilate generated mask with a 3 × 3 kernel
(6)	Feed the generated mask to OpenCV inpainting function that attempts to deduce and reconstructs the invalid data from the pixels’ value in its neighborhood