In this paper a method is proposed for shape recognition and grasping of unknown objects using a robotic hand with two soft fingers and one omnidirectional camera. For shape recognition, we propose to use a simple 2D version of the visual volume intersection method to obtain the visual hull of the object in a horizontal plane from multiple images taken from different positions around the object. For grasping we propose a simple grasp quality criterion to obtain the best grasping position for the two soft fingers based on the obtained visual hull. We conducted several experiments to show the validity of the proposed method.
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