GlassLoc - Plenoptic Grasp Pose Detection in Transparent Clutter

2018.7 - 2019.3

Paper

Zheming Zhou, Tianyang Pan, Shiyu Wu, Haonan Chang, Odest Chadwicke Jenkins, “GlassLoc: Plenoptic Grasp Pose Detection in Transparent Clutter” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)

Goal

Detect grasp poses of translucent objects or objects under transluceny clutter using plenoptic camera and learning methods.

Contribution

Built the pipeline of incorporating Grasp Pose Generator (GPG) to extract grasp poses’ features of translucent objects. Implemented data augmentation methods to generate training data. Collected light field images and point cloud training data. Migrated PointCNN for feature learning on depth likelihood volumes.