ICGNet: A Unified Approach for Instance-Centric Grasping
René Zurbrügg,Yifan Liu,Francis Engelmann,Suryansh Kumar,Marco Hutter,Vaishakh Patil,Fisher Yu,René Zurbrügg,Yifan Liu,Francis Engelmann,Suryansh Kumar,Marco Hutter,Vaishakh Patil,Fisher Yu
Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the geometric properties of individual objects to find feasible grasps. These grasps need to be compliant with the local object geometry. Second, for each proposed ...
