Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection
- Resource Type
- Conference
- Authors
- Huang, Haojie; Wang, Dian; Zhu, Xupeng; Walters, Robin; Platt, Robert
- Source
- 2023 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2023 IEEE International Conference on. :3882-3888 May, 2023
- Subject
- Robotics and Control Systems
Point cloud compression
Codes
Automation
Image edge detection
Neural networks
Grasping
Feature extraction
- Language
Given point cloud input, the problem of 6-DoF grasp pose detection is to identify a set of hand poses in SE(3) from which an object can be successfully grasped. This important problem has many practical applications. Here we propose a novel method and neural network model that enables better grasp success rates relative to what is available in the literature. The method takes standard point cloud data as input and works well with single-view point clouds observed from arbitrary viewing directions. Videos and code are available at https://haojhuang.github.io/edge_grasp_page/.