An Efficient k-Means Clustering Algorithm: Analysis and Implementation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Artificial Intelligence: Structures and Strategies for Complex Problem Solving (5th Edition)
Artificial Intelligence: Structures and Strategies for Complex Problem Solving (5th Edition)
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
A strategy for grasping unknown objects based on co-planarity and colour information
Robotics and Autonomous Systems
BADGr-A toolbox for box-based approximation, decomposition and GRasping
Robotics and Autonomous Systems
Enabling grasping of unknown objects through a synergistic use of edge and surface information
International Journal of Robotics Research
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In this work we re ne an initial grasping behavior based on 3D edge information by learning. Based on a set of autonomously generated evaluated grasps and relations between the semi-global 3D edges, a prediction function is learned that computes a likelihood for the success of a grasp using either an of ine or an online learning scheme. Both methods are implemented using a hybrid arti cial neural network containing standard nodes with a sigmoid activation function and nodes with a radial basis function. We show that a signi cant performance improvement can be achieved.