Probabilistic Closed-Loop Active Grasping

DOI to cite this document:: 10.5283/epub.58267

Schaub, Henry ; Wolff, Christian

; Hoh, Maximilian ; Schöttl, Alfred

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Date of publication of this fulltext: 16 May 2024 06:31

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Abstract

Picking a specific object is an essential task of assistive robotics. While the majority of grasp detection approaches focus on grasp synthesis from a single depth image or point cloud, this approach is often not viable in an unstructured, uncontrolled environment. Due to occlusion, heavy influence of noise or simply because no collision-free grasp is visible from some perspectives, it is ...