Grasping Novel Objects with Depth Segmentation

We consider the task of grasping novel objects and cleaning fairly cluttered tables with many novel objects. Recent successful approaches employ machine learning algorithms to identify points on the scene that the robot should grasp. In this paper, we show that the task can be significantly simplified by using segmentation, especially with depth information. A supervised localization method is employed to select graspable segments. We also propose a shape completion and grasp planner method which takes partial 3D information and plans the most stable grasping strategy. Extensive experiments on our robot demonstrate the effectiveness of our approach. Authors: Deepak Rao, Quoc V. Le, Thanathorn Phoka, Morgan Quigley, Attawith Sudsand, Andrew Y. Ng (2010)
AUTHORED BY
Deepak Rao
Quoc V. Le
Thanathorn Phoka
Morgan Quigley
Attawith Sudsand
Andrew Y. Ng

Abstract

We consider the task of grasping novel objects and cleaning fairly cluttered tables with many novel objects. Recent successful approaches employ machine learning algorithms to identify points on the scene that the robot should grasp. In this paper, we show that the task can be significantly simplified by using segmentation, especially with depth information. A supervised localization method is employed to select graspable segments. We also propose a shape completion and grasp planner method which takes partial 3D information and plans the most stable grasping strategy. Extensive experiments on our robot demonstrate the effectiveness of our approach.

Download PDF

Related Projects

Leave a Reply

You must be logged in to post a comment