A training-free, database-search grasping pipeline with a new partial-to-complete point-cloud descriptor (C-FPFH), multi-level matching, and grasp fine-tuning claims state-of-the-art single-view grasp success.
Grasp pose detection in point clouds,
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A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning
A training-free, database-search grasping pipeline with a new partial-to-complete point-cloud descriptor (C-FPFH), multi-level matching, and grasp fine-tuning claims state-of-the-art single-view grasp success.