Grasp Pose Detection in Point Clouds

  title={Grasp Pose Detection in Point Clouds},
  author={Andreas ten Pas and Marcus Gualtieri and Kate Saenko and Robert Platt},
  journal={I. J. Robotics Res.},
Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception analogously to object detection in computer vision. These methods take as input a noisy and partially occluded RGBD image or… CONTINUE READING