Real-Time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Prediction
Shubham Agrawal,Nikhil Chavan-Dafle,Isaac Kasahara,Selim Engin,Jinwook Huh,Volkan Isler,Shubham Agrawal,Nikhil Chavan-Dafle,Isaac Kasahara,Selim Engin,Jinwook Huh,Volkan Isler
In this paper, we present a realtime method for simultaneous object-level scene understanding and grasp prediction. Specifically, given a single RGBD image of a scene, our method localizes all the objects in the scene and for each object, it generates the following: full 3D shape, scale, pose with respect to the camera frame, and a dense set of feasible grasps. The main advantage of our method is ...
