期刊
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
卷 -, 期 -, 页码 8762-8768出版社
IEEE
DOI: 10.1109/icra.2019.8793805
关键词
-
资金
- Australian Research Council Centre of Excellence for Robotic Vision [CE140100016]
Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View Picking (MVP) controller uses an active perception approach to choose informative viewpoints based directly on a distribution of grasp pose estimates in real time, reducing uncertainty in the grasp poses caused by clutter and occlusions. In trials of grasping 20 objects from clutter, our MVP controller achieves 80% grasp success, outperforming a single-viewpoint grasp detector by 12%. We also show that our approach is both more accurate and more efficient than approaches which consider multiple fixed viewpoints.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据