3D Object Detection and Pose Estimation for Grasping

We present a novel approach for detecting objects and
estimating their 3D pose in single images of cluttered scenes.
We demonstrate successful grasps using our detection
and pose estimate with a PR2 robot.

Video Demo


Outdoor dataset with annotations will be available soon

Source Code

Pose estimation code will be available soon


Menglong Zhu
menglong AT cis.upenn.edu
GRASP Lab, University of Pennsylvania