Method and system for object grasping

Abstract

A method for object grasping can include: generating a set of keypoints for one or more detected objects in a scene; subdividing the set of keypoints into subsets, each corresponding to a subregion of a detected object; determining a graspability score for the subregion; determining a grasp location for the subregion; selecting a candidate grasp location; and optionally grasping an object using the candidate grasp location.

We claim: 
     
         1 . A method comprising:
 receiving an image of a scene comprising a plurality of visible objects;   using an object detector, generating a set of keypoints for an exposed portion of a visible object in the scene, wherein each keypoint defines a position within a coordinate frame of the image;   subdividing each set of keypoints into subsets, wherein each subset corresponds to a predetermined subregion of the visible object;   determining a grasp location for each subset based on the positions of the respective keypoints;   selecting, from a resultant set of grasp locations, a candidate grasp location for the visible object based on a grasp probability score associated with the respective subregion; and   facilitating grasp execution based on the candidate grasp location.