PointNet++ Grasping: Learning An End-to-end Spatial Grasp Generation Algorithm from Sparse Point Clouds
Peiyuan Ni,Wenguang Zhang,Xiaoxiao Zhu,Qixin Cao,Peiyuan Ni,Wenguang Zhang,Xiaoxiao Zhu,Qixin Cao
Grasping for novel objects is important for robot manipulation in unstructured environments. Most of current works require a grasp sampling process to obtain grasp candidates, combined with local feature extractor using deep learning. This pipeline is time-costly, expecially when grasp points are sparse such as at the edge of a bowl.In this paper, we propose an end-to-end approach to directly pred...
