KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D input

Understand

We propose a new 6-DoF grasp pose synthesis approach from 2D/2.5D input based on keypoints.

• Keypoint-based grasp detector from image input has demonstrated promising results in the previous study, where the additional visual information provided by color images compensates for the noisy depth perception.
• However, it relies heavily on accurately predicting the location of keypoints in the image space.
• In this paper, we devise a new grasp generation network that reduces the dependency on precise keypoint estimation.