ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera
Jun Shi,Yong A,Yixiang Jin,Dingzhe Li,Haoyu Niu,Zhezhu Jin,He Wang,Jun Shi,Yong A,Yixiang Jin,Dingzhe Li,Haoyu Niu,Zhezhu Jin,He Wang
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 net...
