SafePicking: Learning Safe Object Extraction via Object-Level Mapping
Kentaro Wada,Stephen James,Andrew J. Davison,Kentaro Wada,Stephen James,Andrew J. Davison
Robots need object-level scene understanding to manipulate objects while reasoning about contact, support, and occlusion among objects. Given a pile of objects, object recognition and reconstruction can identify the boundary of object instances, giving important cues as to how the objects form and support the pile. In this work, we present a system, SafePicking, that integrates object-level mappin...
