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GKNet: grasp keypoint network for grasp candidates detection
[article]
2021
arXiv
pre-print
Contemporary grasp detection approaches employ deep learning to achieve robustness to sensor and object model uncertainty. The two dominant approaches design either grasp-quality scoring or anchor-based grasp recognition networks. This paper presents a different approach to grasp detection by treating it as keypoint detection in image-space. The deep network detects each grasp candidate as a pair of keypoints, convertible to the grasp representationg = x, y, w, θ T , rather than a triplet or
arXiv:2106.08497v3
fatcat:453hdniyanbyborxg66inxxrc4