Completion Examples

The images below show completions generated using our system with the feature preserving post processing. In addition, they show grasps planned using our completions and the simulated execution results of applying the planned grasp to the ground truth mesh model. These objects are the holdout models from the Grasp Database referenced in the paper (i.e., the models were not part of the training data).
Select a different 3D model to see its completions:

toy_poisson_019 completed from partial view 0:


Ground Truth Object
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toy_poisson_019 completed from partial view 1:


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toy_poisson_019 completed from partial view 2:


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toy_poisson_019 completed from partial view 3:


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toy_poisson_019 completed from partial view 4:


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toy_poisson_019 completed from partial view 5:


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toy_poisson_019 completed from partial view 6:


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toy_poisson_019 completed from partial view 7:


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toy_poisson_019 completed from partial view 8:


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toy_poisson_019 completed from partial view 9:


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