Journal
ROBOTICA
Volume 40, Issue 3, Pages 447-463Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574721000503
Keywords
grasp pose detection; graspable affordance; grasping; RGBD point cloud; Gaussian mixture model (GMM); surface normals; region growing algorithms; primitive shape identification
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The paper proposes a novel method to detect graspable handles for picking objects from a confined and cluttered space. The method combines color and depth curvature information to segment the target object from its background and imposes the geometrical constraints of a two-finger gripper to localize the graspable regions. The proposed approach overcomes the limitations of a poorly trained deep network object detector and provides a simple and efficient method for grasp pose detection that can be implemented online with near real-time performance.
The paper proposes a novel method to detect graspable handles for picking objects from a confined and cluttered space, such as the bins of a rack in a retail warehouse. The proposed method combines color and depth curvature information to create a Gaussian mixture model that can segment the target object from its background and imposes the geometrical constraints of a two-finger gripper to localize the graspable regions. This helps in overcoming the limitations of a poorly trained deep network object detector and provides a simple and efficient method for grasp pose detection that does not require a priori knowledge about object geometry and can be implemented online with near real-time performance. The efficacy of the proposed approach is demonstrated through simulation as well as real-world experiment.
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