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The updated equation for the point-to-point distance met- ric is defined as follows: θk+1 = argmin θ 1 N N∑ i ∥Rksi +tk–ˆri∥2 (2) where k is the iteration number

Minimization Step: updates θk to minimize a loss function defined by the distance between the paired points in the source, reference point clouds

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Grasping by parallel shape matching

cs.RO · 2024-12-11 · conditional · novelty 5.0

Grasp poses are generated by rigidly matching gripper and object point clouds with parallel Annealed Stein ICP, achieving 87.3% success and 0.926 s on a real Kinova KG3 gripper.

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  • Grasping by parallel shape matching cs.RO · 2024-12-11 · conditional · none · ref 2

    Grasp poses are generated by rigidly matching gripper and object point clouds with parallel Annealed Stein ICP, achieving 87.3% success and 0.926 s on a real Kinova KG3 gripper.