Abstract:This paper illustrates two approaches for mobile manipulation of factory robots using deep neural networks. The networks are trained using synthetic datasets unique to the factory environment. Approach I uses depth and RGB images of objects for its CNN and Approach II uses CAD models of the objects with RGB images for a DOPE network and PnP algorithm. Both the approaches are compared based on their complexity, required resources for training, robustness, pose estimation accuracy and run-time characteristics. R… Show more
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