在这项工作中,论文解决了透明和镜面物体的 6-DoF 抓取检测,这是基于视觉的机器人系统中一个重要但具有挑战性的问题,因为深度相机无法感知其几何形状。论文首次提出了一种基于多视图 RGB 的 6-DoF 抓取检测网络 GraspNeRF,它利用可泛化神经辐射场 (NeRF) 来实现杂波中与材料无关的对象抓取。与现有的基于 NeRF ...
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 ...
This paper proposes a model-free 6-DOF grasp detection framework based on single-view local point clouds. The whole process includes three stages: Candidate Generation Network(CGN), Reliable Adjustment Module(RAM), and Quality Assessment Network(QAN). CGN predicts the graspability and the initial ...
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...
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...
1.基于形状特征的机械臂6‑DoF抓取方法,其特征在于,包括: 步骤一、建立点云补全网络和抓取网络; 步骤二、在相机输入的深度图中提取原始目标物体点云P,将所述目标物体点云P输入 至点云补全网络,生成目标物体补全点云P; c 步骤三、将获得的补全点云P与原始目标物体点云P拼接生成拼接点云P; ...
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 ...
1.基于点云的6‑DOF人机协作姿态规划与类人交互运动生成方法,其特征在于:该方法 包括交接点云的提取阶段和6‑DOF抓取姿态生成阶段; 交接点云提取阶段:使用FasterR‑CNN来检测2D场景中的物体和手的位置,利用识别得 到的边界框进行手与物体分割;物体边界框内的区域被认为是可抓取,但当它与手部边界 ...
[70] Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation作者 | Yiming Li, Tao Kong, Ruihang Chu, Yifeng Li, Peng Wang, Lei Li链接 | arxiv.org/abs/2108.0242 备注| International Conference on Intelligent Robots and Systems (IROS) 2021 [71] Exploring Structure Consistenc...
A model-free 6-DOF grasp detection method based on point clouds of local sphere area The main challenge is how to generate grasping poses for unknown objects in cluttered scenes. This paper proposes a model-free 6-DOF grasp detection ... J Sun,K Zhang,G Yang,... - 《Advanced Robotics ...