Grasp Detection under Occlusions Using SIFT Features

Figure 7

Comparsion of our matching algorithm with the original SIFT algorithm on household objects: (a) the result generated by the original SIFT algorithm; (b) the result obtained by our matching algorithm. Our matching algorithm decreases the influence of occluded parts and predicts a more suitable grasp configuration than the original SIFT algorithm.

(a)

(b)