Corpus ID: 235446911

GKNet: grasp keypoint network for grasp candidates detection

  title={GKNet: grasp keypoint network for grasp candidates detection},
  author={Ruinian Xu and Fu-Jen Chu and P. Vela},
Contemporary grasp detection approaches employ deep learning to achieve robustness to sensor and object model uncertainty. The two dominant approaches design either grasp-quality scoring or anchor-based grasp recognition networks. This paper presents a different approach to grasp detection by treating it as keypoint detection. The deep network detects each grasp candidate as a pair of keypoints, convertible to the grasp representation g = {x, y, w, θ} , rather than a triplet or quartet of… Expand


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