GhostPose: Multi-view Pose Estimation of Transparent Objects for Robot Hand Grasping
Jaesik Chang,Minju Kim,Seongmin Kang,Heungwoo Han,Sunpyo Hong,Kyunghun Jang,Sungchul Kang,Jaesik Chang,Minju Kim,Seongmin Kang,Heungwoo Han,Sunpyo Hong,Kyunghun Jang,Sungchul Kang
Pose estimation is a key challenge in robot manipulation and grasping task. Current object pose estimation approaches based on 3D models and depth sensor information have difficulties to handle transparent objects because of the limitation to capture the accurate depth information. To address these issues, we present a 6DoF pose estimation approach, called GhostPose, which utilizes a novel 3D boun...
