Training-free Suction Grasp Detection for Deformed Aseptic Cartons Using Vision-Language Models and Geometric Surface Scoring
This work presents a training-free suction grasping system for sorting deformed aseptic beverage cartons, decoupling target identification from grasp-point selection, and compares three geometric methods: k-nearest-neighbour PCA, Sobel cross-product, and RANSAC plane fitting.
Marin Maletic, G. Vasiljević
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