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Accurate Robotic Grasp Detection with Angular Label Smoothing

文献类型：期刊论文

作者Shi, Min2; Lu, Hao2; Li, Zhao-Xin1; Zhu, Deng-Ming1; Wang, Zhao-Qi1
刊名JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY
出版日期2023-09-01
卷号38期号:5页码:1149-1161
关键词robotic grasp detection attention mechanism angular label smoothing anchor box deep learning
ISSN号1000-9000
DOI10.1007/s11390-022-1458-5
英文摘要Grasp detection is a visual recognition task where the robot makes use of its sensors to detect graspable objects in its environment. Despite the steady progress in robotic grasping, it is still difficult to achieve both real-time and high accuracy grasping detection. In this paper, we propose a real-time robotic grasp detection method, which can accurately predict potential grasp for parallel-plate robotic grippers using RGB images. Our work employs an end-to-end convolutional neural network which consists of a feature descriptor and a grasp detector. And for the first time, we add an attention mechanism to the grasp detection task, which enables the network to focus on grasp regions rather than background. Specifically, we present an angular label smoothing strategy in our grasp detection method to enhance the fault tolerance of the network. We quantitatively and qualitatively evaluate our grasp detection method from different aspects on the public Cornell dataset and Jacquard dataset. Extensive experiments demonstrate that our grasp detection method achieves superior performance to the state-of-the-art methods. In particular, our grasp detection method ranked first on both the Cornell dataset and the Jacquard dataset, giving rise to the accuracy of 98.9% and 95.6%, respectively at real-time calculation speed.
资助项目National Key Research and Development Program of China[2018AAA010-3002] ; National Natural Science Foundation of China[62172392] ; National Natural Science Foundation of China[61702482] ; National Natural Science Foundation of China[61972379]
WOS研究方向Computer Science
语种英语
WOS记录号WOS:001114345700011
出版者SPRINGER SINGAPORE PTE LTD
源URL[http://119.78.100.204/handle/2XEOYT63/38479]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Li, Zhao-Xin
作者单位1.Chinese Acad Sci, Inst Comp Technol, Beijing 100190, Peoples R China
2.North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China
推荐引用方式
GB/T 7714		 Shi, Min,Lu, Hao,Li, Zhao-Xin,et al. Accurate Robotic Grasp Detection with Angular Label Smoothing[J]. JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,2023,38(5):1149-1161.
APA Shi, Min,Lu, Hao,Li, Zhao-Xin,Zhu, Deng-Ming,&Wang, Zhao-Qi.(2023).Accurate Robotic Grasp Detection with Angular Label Smoothing.JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,38(5),1149-1161.
MLA Shi, Min,et al."Accurate Robotic Grasp Detection with Angular Label Smoothing".JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY 38.5(2023):1149-1161.

入库方式： OAI收割

来源：计算技术研究所

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