1. Robotic grasp detection using a novel two-stage approach
- Author
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Xiangyu Chen, Mengkai Hu, and Zhe Chu
- Subjects
FOS: Computer and information sciences ,0209 industrial biotechnology ,Artificial neural network ,Computer science ,business.industry ,Computer Vision and Pattern Recognition (cs.CV) ,Deep learning ,Particle swarm optimizer ,GRASP ,Computer Science - Computer Vision and Pattern Recognition ,Estimator ,02 engineering and technology ,Object (computer science) ,Machine learning ,computer.software_genre ,Convolutional neural network ,Computer Science - Robotics ,020901 industrial engineering & automation ,0202 electrical engineering, electronic engineering, information engineering ,020201 artificial intelligence & image processing ,Artificial intelligence ,Stage (hydrology) ,business ,Robotics (cs.RO) ,computer - Abstract
Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for the dataset used for training the neural network models and it’s hard to achieve in practical use. Therefore, we proposed a two-stage approach using particle swarm optimizer (PSO) candidate estimator and CNN to detect the most likely grasp. Our approach achieved an accuracy of 92.8% on the Cornell Grasp Dataset, which leaped into the front ranks of the existing approaches and is able to run at real-time speeds. After a small change of the approach, we can predict multiple grasps per object in the meantime so that an object can be grasped in a variety of ways.
- Published
- 2021
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