Geometry-Based Grasping Pipeline for Bi-Modal Pick and Place
Robert Haschke,Guillaume Walck,Helge Ritter,Robert Haschke,Guillaume Walck,Helge Ritter
We propose an autonomous grasping pipeline that relies on geometric information extracted from segmented point cloud data. This is in contrast to many recent approaches leveraging deep learning and thus relying on a rather large amount of training samples. We argue that the proposed geometric approach facilitates task-level planning as the shape, size, and symmetry of objects can be directly taken...
