A robotic grasping algorithm based on simplified image and deep convolutional neural network
文献类型：会议论文
| 作者 | Mu, Tian2,3; Yuan, Bo1,2; Yu HB(于海斌)2 ; Kang, Yu3
|
| 出版日期 | 2018 |
| 会议日期 | December 14-16, 2018 |
| 会议地点 | Chongqing, China |
| 关键词 | robotic grasp convolutional neural network grasp detection image simplification |
| 页码 | 849-855 |
| 英文摘要 | In this paper, a grasping method based on convolutional neural network (CNN) and image simplification is proposed to solve the problem of detecting the optimal grasping pose of a parallel-jaw gripper for unknown objects in an RGB-D view. First, the outlines of objects are simplified to remove blurred details caused by the 3D-sensing device. Further, the depth data at the edge of objects is clustered to simplify the complex 3D structure of objects. Then candidates for grasp on the image are selected by force closure and is sent into the Grasp Quality Convolutional Neural Network (GQ-CNN) to estimate the best estimation of grasping pose. A variety of common objects are used for the grasp experiment and the results demonstrate the effectiveness of the proposed method. |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-5373-9 |
| WOS记录号 | WOS:000491408500166 |
| 源URL | [http://ir.sia.cn/handle/173321/25273]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Yu HB(于海斌) |
| 作者单位 | 1.Northeastern University, Shenyang, Liaoning Province, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China; 3.School of Information Science and Technology, University of Science and Technology of China, Hefei, China; |
| 推荐引用方式 GB/T 7714 | Mu, Tian,Yuan, Bo,Yu HB,et al. A robotic grasping algorithm based on simplified image and deep convolutional neural network[C]. 见:. Chongqing, China. December 14-16, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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