# Familar Object Grasping Object Viiew Recog - Shafii, Nima, S. Hamidreza Kasaei, and Luís Seabra Lopes. "Learning to grasp familiar objects using object view recognition and template matching." IROS 2016. - Grasp template : - Local shape feature for graspable regions - spin-image feature - Global feature, the radius (distance from the CoM to the selected keypoint) - important to represent a stable grasp - Finger configuration - New objects that are similar to known ones (i.e. they are familiar) can be grasped in a similar way - As an example, if the robot knows how to grasp a pen, it may use the same grasp temple to take a marker