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Oct, 2021
Dex-NeRF:使用神经辐射场感知透明物体
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
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Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg
TL;DR
利用神经光辐射场技术检测、定位并推断透明物体的几何形状,结合光源的设置和透射率感知的深度渲染,实现了透明物体的稳定夹取,其成功率分别达到了90%和100%。
Abstract
The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing
depth cameras
have difficulty detecting, localizing, and inferring the geometry of such objects. We propose using
neural
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