Hierarchical 6-DoF Grasping with Approaching Direction Selection
Yunho Choi,Hogun Kee,Kyungjae Lee,JaeGoo Choy,Junhong Min,Sohee Lee,Songhwai Oh,Yunho Choi,Hogun Kee,Kyungjae Lee,JaeGoo Choy,Junhong Min,Sohee Lee,Songhwai Oh
In this paper, we tackle the problem of 6-DoF grasp detection which is crucial for robot grasping in cluttered real-world scenes. Unlike existing approaches which synthesize 6-DoF grasp data sets and train grasp quality networks with input grasp representations based on point clouds, we rather take a novel hierarchical approach which does not use any 6-DoF grasp data. We cast the 6-DoF grasp detec...
