RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
Zhenggang Tang,Balakumar Sundaralingam,Jonathan Tremblay,Bowen Wen,Ye Yuan,Stephen Tyree,Charles Loop,Alexander Schwing,Stan Birchfield,Zhenggang Tang,Balakumar Sundaralingam,Jonathan Tremblay,Bowen Wen,Ye Yuan,Stephen Tyree,Charles Loop,Alexander Schwing,Stan Birchfield
We present a system for collision-free control of a robot manipulator that uses only RGB views of the world. Perceptual input of a tabletop scene is provided by multiple images of an RGB camera (without depth) that is either handheld or mounted on the robot end effector. A NeRF-like process is used to reconstruct the 3D geometry of the scene, from which the Euclidean full signed distance function ...
