We propose to expand this strategy by using multiple real and virtual viewpoints and projecting predicted grasp quality information to a surface representation of the object. This allows us to find 6-DOF grasp poses for arbitrary, unknown objects.Henry Schaub...
论文地址:ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera 代码地址:https://github.com/jun7-shi/ASGrasp 目录 1、准备GPU加速环境 2、安装torch和cudatoolkit 3、安装Graspness相关依赖库 4、安装MinkowskiEngine 5、安装pointnet2和knn 6、安...
Literature Survey about Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter 摘要概述在通用机器人研究领域中,grasp detection 任务要求能够在一堆杂乱的物体中识别从未遇到过的物体以及处理物体之间的堆叠问题。作者针对此项任务提出了Volumetric Grasping Network(VGN),以3D场景的Truncated Signed ...
GIGA (Grasp detection via Implicit Geometry and Affordance) is a network that jointly detects 6 DOF grasp poses and reconstruct the 3D scene. GIGA takes advantage of deep implicit functions, a continuous and memory-efficient representation, to enable differentiable training of both tasks. GIGA takes...
roslaunch panda_moveit_config move_group.launch python scripts/panda_grasp.py --model data/models/vgn_conv.pth @inproceedings{breyer2020volumetric, title={Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter}, author={Breyer, Michel and Chung, Jen Jen and Ott, Lionel and Ro...
Contact-GraspNet旨在通过点云多视角融合和深度学习技术,在复杂场景中实现高效、准确的6自由度(6-DoF)抓取生成。研究目标是提高机器人在未知物体上的抓取成功率,无需物体类别标签和先验知识。 流程概述 数据采集与预处理 点云多视角融合 点云下采样与特征提取 ...
GraspFast: Multi-stage lightweight 6-DoF grasp pose fast detection with RGB-D image Pattern Recognition Volume 161, May 2025, Page 111318 Purchase options CorporateFor R&D professionals working in corporate organizations. Academic and personalFor academic or personal use only. Looking for a customized...
19行的c++14改为c++17修改run_container.sh按以下模板修改：docker rm -f foundationposeCATGRASP_DIR=...
6-DoF ob- ject pose estimation infers the 3D translation and 3D rota- tion of a target object in the camera's frame. State-of-the- art methods often require instance- or category-level object CAD models for offline training or online template match- ing ...
Robotic grasping in clutters is a fundamental task in robotic manipulation. In this work, we propose an economic framework for 6-DoF grasp detection, aiming to economize the resource cost in training and meanwhile maintain effective grasp performance. To begin with, we discover that the dense sup...