RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images
Minghao Gou Hao-Shu Fang Zhanda Zhu Sheng Xu Chenxi Wang Cewu Lu Minghao Gou Hao-Shu Fang Zhanda Zhu Sheng Xu Chenxi Wang Cewu Lu
General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image or point cloud as input which may lead to poor results in some cases. In this paper, we propose RGBD-Grasp, a pipeline that solves this problem by decoupling 7...