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

Yiye Chen, Ruinian Xu, Yunzhi Lin +2

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…