Gan Ma

2 accepted papers

2025

NeRF-Based Transparent Object Grasping Enhanced by Shape Priors

Yi Han, Zixin Lin, Dongjie Li, Lvping Chen, Yongliang Shi, Gan Ma

ICRA 2025

Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods are often hindered by their reliance on high-quality datase

Cited by 1 Source ↗Scholar ↗

2024

An Onboard Framework for Staircases Modeling Based on Point Clouds

Chun Qing, Rongxiang Zeng, Xuan Wu, Yongliang Shi, Gan Ma

ICRA 2024poster

The detection of traversable regions on staircases and the physical modeling constitutes pivotal aspects of the mobility of legged robots. This paper presents an onboard framework tailored to the detection of traversable regions and the modeling of physical attributes of staircases by point cloud da…

Cited by 1 Source ↗code ↗Scholar ↗