Closed-Loop Next-Best-View Planning for Target-Driven Grasping
Michel Breyer,Lionel Ott,Roland Siegwart,Jen Jen Chung,Michel Breyer,Lionel Ott,Roland Siegwart,Jen Jen Chung
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop next-best-view planner that drives exploration based on occluded object parts. By continuously predicting grasps from an up-to-date scene reconstruction, our po...
