Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D input
Yiye Chen,Yunzhi Lin,Ruinian Xu,Patricio A. Vela,Yiye Chen,Yunzhi Lin,Ruinian Xu,Patricio A. Vela
The success of 6-DoF grasp learning with point cloud input is tempered by the computational costs resulting from their unordered nature and pre-processing needs for reducing the point cloud to a manageable size. These properties lead to failure on small objects with low point cloud cardinality. Instead of point clouds, this manuscript explores grasp generation directly from the RGB-D image input. ...
