Dec, 2023
CenterGrasp:面向对象感知的隐式表示学习,用于同时形状重建和 6 自由度抓取估计
CenterGrasp: Object-Aware Implicit Representation Learning for Simultaneous Shape Reconstruction and 6-DoF Grasp Estimation
Eugenio Chisari, Nick Heppert, Tim Welschehold, Wolfram Burgard, Abhinav Valada
TL;DR通过编码形状和有效抓取的连续潜空间,CenterGrasp 框架结合了物体识别和整体抓取,实现了场景的强场景重建和六自由度抓取 - 姿态估计性能的显著改进。