혼합 밀도 신경망와 심층 컨볼루션 신경망을 이용한 사전 파지 자세 추정 방법

By using mixture density network, estimation method of various pre-grasping pose for various object is proposed in this paper. The proposed network structure estimates pre-grasping pose by converting feature of what to feature of where. This paper describes the pre-grasping pose accuracy by experimenting.