KGNv2: Separating Scale and Pose Prediction for Keypoint-Based 6-DoF Grasp Synthesis on RGB-D Input
Yiye Chen,Ruinian Xu,Yunzhi Lin,Hongyi Chen,Patricio A. Vela,Yiye Chen,Ruinian Xu,Yunzhi Lin,Hongyi Chen,Patricio A. Vela
We propose an improved keypoint approach for 6-DoF grasp pose synthesis from RGB-D input. Keypoint-based grasp detection from image input demonstrated promising results in a previous study, where the visual information provided by color imagery compensates for noisy or imprecise depth measurements. However, it relies heavily on accurate keypoint prediction in image space. We devise a new grasp gen...
