Shape Reconstruction of Entangled Objects

InShapereconstruction this paper, we propose a novel bin-picking system that can grasp avoiding entanglement for both rigid and flexible objects. Our method can (1) infer the full state of the objects in the clutter by skeletonizing and restoring the occluded shapes and (2) estimate the degree of entanglement quantitatively for each restored object and determine the grasping object based on the degree of entanglement, height information and the restoration rate. To evaluate our method, we perform real-world experiments using rigid objects with different shapes and one deformable object. Experimental results also demonstrate the effectiveness of our method on various objects with fixed or irregular geometries.