Simultaneous Object Reconstruction and Grasp Prediction using a Camera-centric Object Shell Representation
Nikhil Chavan-Dafle,Sergiy Popovych,Shubham Agrawal,Daniel D. Lee,Volkan Isler,Nikhil Chavan-Dafle,Sergiy Popovych,Shubham Agrawal,Daniel D. Lee,Volkan Isler
Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the core of our approach is a novel camera-centric object representation called the “object shell” which is composed of an observed “entry image” and a predicted “...
