Dense packing in pick-and-place systems is an important feature in many
warehouse and logistics applications. Prior work in this space has largely
focused on planning algorithms in simulation, but real-world packing
performance is often bottlenecked by the difficulty of perceiving 3D object
geometry in highly occluded, partially observed scenes. In this work, we
present a fully-convolutional shape completion model, F-CON, which can be
easily combined with off-the-shelf planning methods for dense packing in the
real world. We also release a simulated dataset, COB-3D-v2, that can be used to
train shape completion models for real-word robotics applications, and use it
to demonstrate that F-CON outperforms other state-of-the-art shape completion
methods. Finally, we equip a real-world pick-and-place system with F-CON, and
demonstrate dense packing of complex, unseen objects in cluttered scenes.
Across multiple planning methods, F-CON enables substantially better dense
packing than other shape completion methods.

通过与现有规划方法结合，我们提出了一种全卷积形状补全模型（F-CON），可以在现实世界中实现密集堆放。我们还发布了一个模拟数据集（COB-3D-v2），用于训练真实世界机器人应用的形状补全模型，并使用它证明 F-CON 超过其他最先进的形状补全方法。最后，我们将 F-CON 应用于实际的拾取放置系统，并展示了在混乱的场景中对复杂、未知物体的密集堆放。在多种规划方法下，F-CON 实现了比其他形状补全方法更好的密集堆放效果。