Exploration of global surface geometry from local information

The global surface of an object plays important role in achieving stable grasp and manipulation using a robot hand. In this research, we propose a method to explore global shape of an unknown object from local information. First, the method of reconstructing a local surface at an arbitrary point from two local patches is proposed. Next, an algorithm to construct global surface geometry of an object from sparse local information is presented. Finally, the algorithm is verified by simulations and experiments for several simple objects.