Volumetric-based Contact Point Detection for 7-DoF Grasping

Junhao Cai, Jingcheng Su, Zida Zhou, Hui Cheng, Qifeng Chen, Michael Yu Wang

Abstract: In this paper, we propose a novel grasp pipeline based on contact point detection on the truncated signed distance function (TSDF) volume to achieve closed-loop 7-degree-of-freedom (7-DoF) grasping...