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Apr, 2023
基于超椭球体的物体姿态估计技术在机器人抓取中的应用
ShapeShift: Superquadric-based Object Pose Estimation for Robotic Grasping
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E. Zhixuan Zeng, Yuhao Chen, Alexander Wong
TL;DR
本文提出了一种基于超椭球的框架ShapeShift,可以预测对象相对于拟合对象的基本形状的姿态,提高了目标姿态估计的准确性和描述能力,使其能够适用于新的几何形状。
Abstract
object pose estimation
is a critical task in
robotics
for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to
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