Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses
Rui Wang,Chaitanya Mitash,Shiyang Lu,Daniel Boehm,Kostas E. Bekris,Rui Wang,Chaitanya Mitash,Shiyang Lu,Daniel Boehm,Kostas E. Bekris
Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to pick the target without collisions. This approach, however, ignores the uncertainty of the perception process both regarding the target's and the surrounding objec...
