From Single 2D Depth Image to Gripper 6D Pose Estimation: A Fast and Robust Algorithm for Grabbing Objects in Cluttered Scenes
In this paper, we investigate the problem of grasping previously unseen objects in unstructured environments which are cluttered with multiple objects. Object geometry, reachability, and force-closure analysis are considered to address this problem. A framework is proposed for grasping unknown objec...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-07-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/8/3/63 |