GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF
Qiyu Dai,Yan Zhu,Yiran Geng,Ciyu Ruan,Jiazhao Zhang,He Wang,Qiyu Dai,Yan Zhu,Yiran Geng,Ciyu Ruan,Jiazhao Zhang,He Wang
In this work, we tackle 6-DoF grasp detection for transparent and specular objects, which is an important yet challenging problem in vision-based robotic systems, due to the failure of depth cameras in sensing their geometry. We, for the first time, propose a multiview RGB-based 6-DoF grasp detection network, GraspNeRF, that leverages the generalizable neural radiance field (NeRF) to achieve mater...
