mlsanityData to 14 Oct 2026

A novel integrated method of detection-grasping for specific object based on the box coordinate matching

arXiv 2307.11783 ↗First posted 20 Jul 2023cs.RO cs.CV eess.IVcited by 0

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Abstract (arXiv)

To better care for the elderly and disabled, it is essential for service robots to have an effective fusion method of object detection and grasp estimation. However, limited research has been observed on the combination of object detection and grasp estimation. To overcome this technical difficulty, a novel integrated method of detection-grasping for specific object based on the box coordinate matching is proposed in this paper. Firstly, the SOLOv2 instance segmentation model is improved by adding channel attention module (CAM) and spatial attention module (SAM). Then, the atrous spatial pyramid pooling (ASPP) and CAM are added to the generative residual convolutional neural network (GR-CNN) model to optimize grasp estimation. Furthermore, a detection-grasping integrated algorithm based on box coordinate matching (DG-BCM) is proposed to obtain the fusion model of object detection and grasp estimation. For verification, experiments on object detection and grasp estimation are conducted separately to verify the superiority of improved models. Additionally, grasping tasks for several specific objects are implemented on a simulation platform, demonstrating the feasibility and effectiveness of DG-BCM algorithm proposed in this paper.

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References · 16

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
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  3. 2017Mask R-CNNcited by 7,277
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  9. 2019EfficientDet: Scalable and Efficient Object Detectioncited by 1,020
  10. 2019YOLACT: Real-time Instance Segmentationcited by 443
  11. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 264
  12. 2018Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approachcited by 120
4 more
  1. 2013Deep Learning for Detecting Robotic Graspscited by 116
  2. 2019Antipodal Robotic Grasping using Generative Residual Convolutional Neural Networkcited by 59
  3. 2021SOLO: A Simple Framework for Instance Segmentationcited by 32
  4. 2018ROI-based Robotic Grasp Detection for Object Overlapping Scenescited by 31

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