3DSGrasp: 3D Shape-Completion for Robotic Grasp
Seyed S. Mohammadi,Nuno F. Duarte,Dimitrios Dimou,Yiming Wang,Matteo Taiana,Pietro Morerio,Atabak Dehban,Plinio Moreno,Alexandre Bernardino,Alessio Del Bue,José Santos-Victor,Seyed S. Mohammadi,Nuno F. Duarte,Dimitrios Dimou,Yiming Wang,Matteo Taiana,Pietro Morerio,Atabak Dehban,Plinio Moreno,Alexandre Bernardino,Alessio Del Bue,José Santos-Victor
Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping action, leading to the generation of wrong or inaccurate grasp poses. We propose a novel grasping strategy, named 3DSGrasp, that predicts the missing geometry fr...
