Secure Grasping Detection of Objects in Stacked Scenes Based on Single-Frame RGB Images
文献类型：期刊论文
| 作者 | Xu, Hao2; Sun, Qi2; Liu, Weiwei2; Yang, Minghao1
|
| 刊名 | SENSORS
 |
| 出版日期 | 2023-10-01 |
| 卷号 | 23期号:19页码:15 |
| 关键词 | secure grasping object-stacking scene grasping relationship circular smooth label object detection |
| DOI | 10.3390/s23198054 |
| 通讯作者 | Sun, Qi(sunqi@zstu.edu.cn) |
| 英文摘要 | Secure grasping of objects in complex scenes is the foundation of many tasks. It is important for robots to autonomously determine the optimal grasp based on visual information, which requires reasoning about the stacking relationship of objects and detecting the grasp position. This paper proposes a multi-task secure grasping detection model, which consists of the grasping relationship network (GrRN) and the oriented rectangles detection network CSL-YOLO, which uses circular smooth label (CSL). GrRN uses DETR to solve set prediction problems in object detection, enabling end-to-end detection of grasping relationships. CSL-YOLO uses classification to predict the angle of oriented rectangles, and solves the angle distance problem caused by classification. Experiments on the Visual Manipulate Relationship Dataset (VMRD) and the grasping detection dataset Cornell demonstrate that our method outperforms existing methods and exhibits good applicability on robot platforms. |
| 资助项目 | We are very grateful for the support and help from Yangchang Sun of the Institute of Automation Chinese Academy of Sciences. |
| WOS研究方向 | Chemistry ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| 出版者 | MDPI |
| WOS记录号 | WOS:001084234100001 |
| 资助机构 | We are very grateful for the support and help from Yangchang Sun of the Institute of Automation Chinese Academy of Sciences. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/52984]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Sun, Qi |
| 作者单位 | 1.Chinese Acad Sci CASIA, Res Ctr Brain Inspired Intelligence BII, Inst Automat, Beijing 100190, Peoples R China 2.Zhejiang Sci Tech Univ, Sch Comp Sci & Technol, Hangzhou 310018, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xu, Hao,Sun, Qi,Liu, Weiwei,et al. Secure Grasping Detection of Objects in Stacked Scenes Based on Single-Frame RGB Images[J]. SENSORS,2023,23(19):15. |
| APA | Xu, Hao,Sun, Qi,Liu, Weiwei,&Yang, Minghao.(2023).Secure Grasping Detection of Objects in Stacked Scenes Based on Single-Frame RGB Images.SENSORS,23(19),15. |
| MLA | Xu, Hao,et al."Secure Grasping Detection of Objects in Stacked Scenes Based on Single-Frame RGB Images".SENSORS 23.19(2023):15. |
入库方式： OAI收割
来源：自动化研究所
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