Precise Object Placement with Pose Distance Estimations for Different Objects and Grippers
Kilian Kleeberger,Jonathan Schnitzler,Muhammad Usman Khalid,Richard Bormann,Werner Kraus,Marco F. Huber,Kilian Kleeberger,Jonathan Schnitzler,Muhammad Usman Khalid,Richard Bormann,Werner Kraus,Marco F. Huber
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D object poses together with an object class, a pose distance for object pose estimation, and a pose distance from a target pose for object placement for each auto...
