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• W2945136467 abstract "This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object localization task contains object localization without classification, object detection and object instance segmentation. This task provides the regions of the target object in the input data. The object pose estimation task mainly refers to estimating the 6D object pose and includes correspondence-based methods, template-based methods and voting-based methods, which affords the generation of grasp poses for known objects. The grasp estimation task includes 2D planar grasp methods and 6DoF grasp methods, where the former is constrained to grasp from one direction. These three tasks could accomplish the robotic grasping with different combinations. Lots of object pose estimation methods need not object localization, and they conduct object localization and object pose estimation jointly. Lots of grasp estimation methods need not object localization and object pose estimation, and they conduct grasp estimation in an end-to-end manner. Both traditional methods and latest deep learning-based methods based on the RGB-D image inputs are reviewed elaborately in this survey. Related datasets and comparisons between state-of-the-art methods are summarized as well. In addition, challenges about vision-based robotic grasping and future directions in addressing these challenges are also pointed out." @default.
• W2945136467 created "2019-05-29" @default.
• W2945136467 creator A5055770524 @default.
• W2945136467 creator A5066958531 @default.
• W2945136467 creator A5073531557 @default.
• W2945136467 date "2019-05-16" @default.
• W2945136467 modified "2023-09-27" @default.
• W2945136467 title "Vision-based Robotic Grasping from Object Localization, Pose Estimation, Grasp Detection to Motion Planning: A Review." @default.
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