Safety-optimized Strategy for Grasp Detection in High-clutter Scenarios

The detection accuracy and speed of grasp detection models on benchmarks are the focal points of concern in the robotic grasping community. Especially in a collaborative robot setting, the safety of the model is an essential aspect that cannot be overlooked. In this paper, we explore how to enhance the safety of grasp detection models in autonomous vision-guided grasping. Specifically, we propose a simple yet practical Safety-optimized Strategy, which consists of two parts. The first part involves depth prioritization, optimizing the grasp sequence from top to bottom based on the order of depth values, which can mitigate the issue of grasp collisions that may arise when the depth value of the object with the highest grasp quality is significantly higher than that of other objects in high-clutter scenarios. The second part is false-positive protection, where we introduce the robust ArUco marker as the lowest grasp priority. The marker is fixed at certain positions within the camera’s field of view, enabling the robot to halt its movement, thereby restraining the robot from grasping objects that should not be grasped. Once the marker disappears, the robot can resume its operations. We validate our method through real grasping experiments with a parallel-jaw gripper and an industrial robotic arm, demonstrating its effectiveness in high-clutter scenarios.
2024 21st International Conference on Ubiquitous Robots (UR), New York, NY, USA, June 24-27, 2024