Grasp Detection under Occlusions Using SIFT Features

Figure 1

(a) Grasp configuration for parallel robotic gripper. Each grasp configuration contains the position information, orientation information, and grasp quality score. (b) Each anchor is corresponded to 9 possible grasp boxes with 3 scales and 3 aspect ratios (here only shows 3 of the possible grasp boxes of a same scale).

(a)

(b)