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The proposed method combines color and depth curvature information to create a Gaussian mixture model that can segment the target object from its background and imposes the geometrical constraints of a two-finger gripper to localize the graspable regions. This helps in overcoming the limitations of a poorly trained deep network object detector and provides a simple and efficient method for grasp pose detection that does not require a priori knowledge about object geometry and can be implemented online with near real-time performance. The efficacy of the proposed approach is demonstrated through simulation as well as real-world experiment.<\/jats:p>","DOI":"10.1017\/s0263574721000503","type":"journal-article","created":{"date-parts":[[2021,6,16]],"date-time":"2021-06-16T08:17:28Z","timestamp":1623831448000},"page":"447-463","source":"Crossref","is-referenced-by-count":2,"title":["A novel method for finding grasping handles in a clutter using RGBD Gaussian mixture models"],"prefix":"10.1017","volume":"40","author":[{"given":"Olyvia","family":"Kundu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Samrat","family":"Dutta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7405-3445","authenticated-orcid":false,"given":"Swagat","family":"Kumar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,6,16]]},"reference":[{"key":"S0263574721000503_ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN.2018.8489424"},{"key":"S0263574721000503_ref46","unstructured":"[46] Kundu, O. , \u201cDemonstration video for the proposed grasping algorithm.\u201d https:\/\/www.youtube.com\/watch?v=P9BIPXtnQrw (2017)."},{"key":"S0263574721000503_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1371616"},{"key":"S0263574721000503_ref27","first-page":"248","article-title":"Segmentation of point clouds using smoothness constraint","volume":"36","author":"Rabbani","year":"2006","journal-title":"Int. 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