ASGrasp: Generalizable Transparent Object Reconstruction and Grasping from RGB-D Active Stereo Camera

arXiv:2405.05648v1 Announce Type: cross
Abstract: In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the first time, we propose ASGrasp, a 6-DoF grasp detection network that uses an RGB-D active stereo camera. ASGrasp utilizes a two-layer learning-based stereo network for the purpose of transparent object reconstruction, enabling material-agnostic object grasping in …

arxiv cs.cv cs.ro grasping object rgb-d transparent type