6-DoF Grasp Planning using Fast 3D Reconstruction and Grasp Quality CNN

arXiv:2009.08618v2 Announce Type: replace
Abstract: Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive and inaccessible to most consumers. In addition, grasp planning has significantly improved recently, by leveraging large datasets and cloud robotics, and by limiting the state and action space to top-down grasps with 4 degrees of freedom (DoF). By leveraging multi-view geometry of the object using inexpensive equipment such as …

3d reconstruction abstract arxiv cnn consumer consumers cs.cv cs.ro datasets demand grasping home home robots however key large datasets perception performance pipeline planning quality robotic robots type