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Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter

arXiv 1809.08564 ↗First posted 23 Sep 2018cs.ROcited by 15

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Abstract (arXiv)

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View Picking (MVP) controller uses an active perception approach to choose informative viewpoints based directly on a distribution of grasp pose estimates in real time, reducing uncertainty in the grasp poses caused by clutter and occlusions. In trials of grasping 20 objects from clutter, our MVP controller achieves 80% grasp success, outperforming a single-viewpoint grasp detector by 12%. We also show that our approach is both more accurate and more efficient than approaches which consider multiple fixed viewpoints.

Key facts. Cited by 15 papers in the map (data through 14 Oct 2026). First posted on arXiv 23 Sep 2018.

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Citing papers per year: 2021: 3; 2022: 1; 2023: 2; 2024: 5; 2025: 3; 2026: 1.

15 papers.

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  1. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 44
  2. 2023An Object SLAM Framework for Association, Mapping, and High-Level Taskscited by 15
  3. 2025VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibilitycited by 11
  4. 2021Simultaneous Multi-View Object Recognition and Grasping in Open-Ended Domainscited by 10
  5. 2023Active-Perceptive Motion Generation for Mobile Manipulationcited by 10
  6. 2021Transferring Experience from Simulation to the Real World for Precise Pick-And-Place Tasks in Highly Cluttered Scenescited by 6
  7. 2021Learning suction graspability considering grasp quality and robot reachability for bin-pickingcited by 5
  8. 2024Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Priorcited by 5
  9. 2024Observe Then Act: Asynchronous Active Vision-Action Model for Robotic Manipulationcited by 5
  10. 2024Optimizing Active Perception for Learning Simultaneous Viewpoint Selection and Manipulation with Diffusion Policycited by 3
  11. 2024Learning to Look: Seeking Information for Decision Making via Policy Factorizationcited by 3
  12. 2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
3 more
  1. 2022A Robotic Visual Grasping Design: Rethinking Convolution Neural Network with High-Resolutionscited by 2
  2. 2025DNRSelect: Active Best View Selection for Deferred Neural Renderingcited by 2
  3. 2026Robustness of Robotic Manipulation: Foundations and Frontierscited by 0