... for extensive data collection. Then, the 3D object detection algorithm PointPillars is improved based on the features of the scene point cloud, allowing for the analysis of part poses to achieve grasping. Finally, a grasp detection strategy is proposed to match the optimal grasp pose. Findings Experimental...

... ^ is the predicted offset and θ ^ is the rotation angle, from which the grasps can be recovered according to the proposed grasp representation method. Deep learning Robotic grasping Grasp detection Grasp generation Pick and place The remainder of this paper is organized as follows...

...Yongxiang Wu; Yili Fu; Shuguo Wang Purpose This paper aims to use fully convolutional network (FCN) to predict pixel-wise antipodal grasp affordances for unknown objects and improve the grasp detection performance through multi-scale feature fusion. Design/methodology/approach A modified FCN...