Learning grasps for unknown objects in cluttered scenes

Abstract

In this paper, we propose a method for grasping unknown objects from piles or cluttered scenes, given a point cloud from a single depth camera. We introduce a shape-based method - Symmetry Height Accumulated Features (SHAF) - that reduces the scene description complexity such that the use of machine learning techniques becomes feasible. We describe the basic Height Accumulated Features and the Symmetry Features and investigate their quality using an F-score metric. We discuss the gain from Symmetry Features for grasp classification and demonstrate the expressive power of Height Accumulated Features by comparing it to a simple height based learning method. In robotic experiments of grasping single objects, we test 10 novel objects in 150 trials and show significant improvement of 34% over a state-of-the-art method, achieving a success rate of 92%. An improvement of 29% over the competitive method was achieved for a task of clearing a table with 5 to 10 objects and overall 90 trials. Furthermore we show that our approach is easily adaptable for different manipulators by running our experiments on a second platform.