  This paper looks into the problem of grasping region localization along with
suitable pose from a cluttered environment without any a priori knowledge of
the object geometry. This end-to-end method detects the handles from a single
frame of input sensor. The pipeline starts with the creation of multiple
surface segments to detect the required gap in the first stage, and eventually
helps in detecting boundary lines. Our novelty lies in the fact that we have
merged color based edge and depth edge in order to get more reliable boundary
points through which a pair of boundary line is fitted. Also this information
is used to validate the handle by measuring the angle between the boundary
lines and also by checking for amy potential occlusion. In addition, we also
proposed an optimizing cost function based method to choose the best handle
from a set of valid handles. The method proposed is tested on real-life
datasets and is found to out form state of the art methods in terms of
precision.
