Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter

09/23/2018

∙

by   Douglas Morrison, et al.

∙

0

∙

share

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View Picking (MVP) controller uses an active perception approach to choose informative viewpoints based directly on a distribution of grasp pose estimates in real time, reducing uncertainty in the grasp poses caused by clutter and occlusions. In trials of grasping 20 objects from clutter, our MVP controller achieves 80 12 than approaches which consider multiple fixed viewpoints.