Shape Completion with Prediction of Uncertain Regions

Humt, Matthias; Winkelbauer, Dominik; Hillenbrand, Ulrich

doi:10.1109/iros55552.2023.10342487

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

DOI: 10.1109/iros55552.2023.10342487

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Shape Completion with Prediction of Uncertain Regions

Matthias Humt,

Dominik Winkelbauer,

Ulrich Hillenbrand

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Cited by 2 publications

References 28 publications

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Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand

Humt,

Winkelbauer,

Hillenbrand

et al. 2023

2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)

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Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and versatile grasping with multi-fingered hands. We present a novel, fast, and high fidelity deep learning pipeline consisting of a shape completion module that is based on a single depth image, and followed by a grasp predictor that is based on the predicted object shape. The shape completion network is based on VQDIF and predicts spatial occupancy values at arbitrary query points. As grasp predictor, we use our twostage architecture that first generates hand poses using an autoregressive model and then regresses finger joint configurations per pose. Critical factors turn out to be sufficient data realism and augmentation, as well as special attention to difficult cases during training. Experiments on a physical robot platform demonstrate successful grasping of a wide range of household objects based on a depth image from a single viewpoint. The whole pipeline is fast, taking only about 1 s for completing the object's shape (0.7 s) and generating 1000 grasps (0.3 s). (https://dlr-alr.github.io/2023-humanoids-completion/)

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Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand

Humt,

Winkelbauer,

Hillenbrand

et al. 2023

2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)

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show abstract

Unknown Object Grasping for Assistive Robotics

Miller,

Durner,

Humt

et al. 2024

2024 IEEE International Conference on Robotics and Automation (ICRA)

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Shape Completion with Prediction of Uncertain Regions

Cited by 2 publications

References 28 publications

Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand

Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand

Unknown Object Grasping for Assistive Robotics

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