VGPN: 6-DoF Grasp Pose Detection Network Based on Hough Voting
Liming Zheng,Yinghao Cai,Tao Lu,Shuo Wang,Liming Zheng,Yinghao Cai,Tao Lu,Shuo Wang
In this paper, we propose a novel Voting based Grasp Pose Network (VGPN) to detect 6-DoF grasps in cluttered scenes. The motivation of this paper is that local object geometry can provide useful clues about where the object can be grasped. Generated by the sampled seed points from raw point cloud, the votes allow seed points in different object regions to contribute to locations where the object c...
