Affordance-Driven Next-Best-View Planning for Robotic Grasping

Xuechao Zhang, Dong Wang, Sun Han, Weichuang Li, Bin Zhao, Zhigang Wang, Xiaoming Duan, Chongrong Fang, Xuelong Li, Jianping He

Abstract: Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy ...