mlsanityData to 7 Oct 2026

Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D input

arXiv 2209.08752 ↗First posted 19 Sep 2022cs.RO cs.CV cs.LGcited by 10

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Abstract (arXiv)

Great success has been achieved in the 6-DoF grasp learning from the point cloud input, yet the computational cost due to the point set orderlessness remains a concern. Alternatively, we explore the grasp generation from the RGB-D input in this paper. The proposed solution, Keypoint-GraspNet, detects the projection of the gripper keypoints in the image space and then recover the SE(3) poses with a PnP algorithm. A synthetic dataset based on the primitive shape and the grasp family is constructed to examine our idea. Metric-based evaluation reveals that our method outperforms the baselines in terms of the grasp proposal accuracy, diversity, and the time cost. Finally, robot experiments show high success rate, demonstrating the potential of the idea in the real-world applications.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 31 of its 48 references that are in the map. First posted on arXiv 19 Sep 2022.

Builds on

31 of 48 references.

References · 31

  1. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 2017Deformable Convolutional Networkscited by 1,481
  5. 2019Objects as Pointscited by 1,172
  6. 2019CenterNet: Keypoint Triplets for Object Detectioncited by 654
  7. 2019RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Cloudscited by 584
  8. 2017Deep Layer Aggregationcited by 436
  9. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 259
  10. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
  11. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 213
  12. 2020ACRONYM: A Large-Scale Grasp Dataset Based on Simulationcited by 115
19 more
  1. 2017Grasp Pose Detection in Point Cloudscited by 107
  2. 2021Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Cluttercited by 94
  3. 2018Jacquard: A Large Scale Dataset for Robotic Grasp Detectioncited by 86
  4. 2018PointNetGPD: Detecting Grasp Configurations from Point Setscited by 80
  5. 2019S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenescited by 51
  6. 2020Object Rearrangement Using Learned Implicit Collision Functionscited by 43
  7. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  8. 2020PointNet++ Grasping: Learning An End-to-end Spatial Grasp Generation Algorithm from Sparse Point Cloudscited by 39
  9. 2021RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Imagescited by 38
  10. 2019A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Setcited by 30
  11. 2020Reactive Human-to-Robot Handovers of Arbitrary Objectscited by 25
  12. 2021A Joint Network for Grasp Detection Conditioned on Natural Language Commandscited by 23
  13. 2020Grasp Proposal Networks: An End-to-End Solution for Visual Learning of Robotic Graspscited by 22
  14. 2018Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Networkcited by 19
  15. 2019PerspectiveNet: 3D Object Detection from a Single RGB Image via Perspective Pointscited by 16
  16. 2021Collision-Aware Target-Driven Object Grasping in Constrained Environmentscited by 11
  17. 2020GDN: A Coarse-To-Fine (C2F) Representation for End-To-End 6-DoF Grasp Detectioncited by 8
  18. 2021GKNet: grasp keypoint network for grasp candidates detectioncited by 8
  19. 2022Primitive Shape Recognition for Object Graspingcited by 3

Built on by

Cited by year (2026 to 7 Oct)

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

10 papers.

  1. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  2. 2024Lightweight Language-driven Grasp Detection using Conditional Consistency Modelcited by 9
  3. 2023Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Renderingcited by 5
  4. 2023KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D inputcited by 4
  5. 2023Real-time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Predictioncited by 2
  6. 2024Robust Loss Functions for Object Grasping under Limited Ground Truthcited by 0
  7. 2024Grammarization-Based Grasping with Deep Multi-Autoencoder Latent Space Exploration by Reinforcement Learning Agentcited by 0
  8. 2025GAA-TSO: Geometry-Aware Assisted Depth Completion for Transparent and Specular Objectscited by 0
  9. 2025ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervisioncited by 0
  10. 2026Enabling a Unified Cross-Domain Representation for Two-Finger Gripper Manipulation via Interaction-Centric Modelingcited by 0