Uncertainty-based Exploring Strategy in Densely Cluttered Scenes for Vacuum Cup Grasping
Kimwa Tung,Jingcheng Su,Junhao Cai,Zhaoliang Wan,Hui Cheng,Kimwa Tung,Jingcheng Su,Junhao Cai,Zhaoliang Wan,Hui Cheng
Grasping a wide range of novel objects in densely cluttered scenes is difficult due to irregular shapes of objects and the uncertainty in sensing. In this paper, a novel vacuum cup grasping method, based on uncertainty modeling of perception data and grasp geometric heuristics, is proposed to grasp unknown objects in densely cluttered scenes. The probabilistic signed distance function is proposed ...
