RGB-D Grasp Detection via Depth Guided Learning with Cross-modal Attention
Ran Qin,Haoxiang Ma,Boyang Gao,Di Huang,Ran Qin,Haoxiang Ma,Boyang Gao,Di Huang
Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However, depth maps are generally of a relatively lower quality with much stronger noise compared to RGB images, making it challenging to acquire grasp depth and fuse m...
