7D
The full 7-dimensional gripper configuration—its 3D location, 3D orientation and the gripper opening width.
Method
A two-step learning algorithm to efficiently learn this representation.
- Describe a certain class of features that makes the inference in the learning algorithm fast
- we describe certain advanced features that are significantly more accurate but take more time to compute. Each step is learned using the SVM ranking algorithm.
Representation
Rectangle
blue lines: where the two jaws of the gripper are to be positioned for grasping
red lines: the gripper opening width and the closing direction
2D rectangle \(G (r_G , c_G , n_G , m_G , θ_G )\):
- the upper-left corner of the rectangle;
- the dimensions of the rectangle;
- the angle between the first edge and x-axis
- the normal to the image plane indicates a good direction to approach.
Algorithm
