Multi-Source Fusion for Voxel-Based 7-DoF Grasping Pose Estimation
Junning Qiu,Fei Wang,Zheng Dang,Junning Qiu,Fei Wang,Zheng Dang
In this work, we tackle the problem of 7-DoF grasping pose estimation(6-DoF with the opening width of parallel-jaw gripper) from point cloud data, which is a fundamental task in robotic manipulation. Most existing methods adopt 3D voxel CNNs as the backbone for their efficiency in handling unordered point cloud data. However, we found that these approaches overlook detailed information of the poin...
