Local Occupancy-Enhanced Object Grasping with Multiple Triplanar Projection

Description

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object grasping highly demands a comprehensive understanding of the shape of objects within the scene. However, single-view observations often suffer from occlusions (including both self and inter-object occlusions), which lead to gaps in the point clouds, especially in

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