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

Algorithm 2

Postprocessing algorithm.

(1)	Plot the depth versus image pixels from the starting point of the line to its end.
(2)	Apply a low pass filter to the data. In this paper, a -order Butter-worth filter is selected chosen due to its flat profile across the bandwidth of interest
(3)	Take the gradient of the low pass filtered depth data.
(4)	Find all the local minima and maxima above a certain threshold. This is essential due to the fact that some small irregularities in object’s surface can induce a local minima or maxima.
(5)	Select the first minimum and last maximum and compute the grasp width from the distance between the generated points.