A model-free 6-DOF grasp detection method based on point clouds of local sphere area
Sign Up to like & getrecommendations! Published in 2023 at "Advanced Robotics"
DOI: 10.1080/01691864.2023.2197961
Abstract: ABSTRACT Grasping object is one of the basic tasks of robots in many scenarios. The main challenge is how to generate grasping poses for unknown objects in cluttered scenes. This paper proposes a model-free 6-DOF… read more here.
Keywords: point clouds; dof grasp; free dof; grasp detection ... See more keywords
GraspCNN: Real-Time Grasp Detection Using a New Oriented Diameter Circle Representation
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DOI: 10.1109/access.2019.2950535
Abstract: This paper proposes GraspCNN, an approach to grasp detection where a feasible robotic grasp is detected as an oriented diameter circle in RGB image, using a single convolutional neural network. By detecting robotic grasps as… read more here.
Keywords: oriented diameter; grasp; diameter circle; grasp detection ... See more keywords
SE-ResUNet: A Novel Robotic Grasp Detection Method
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3145064
Abstract: In this paper, a novel grasp detection neural network Squeeze-and-Excitation ResUNet (SE-ResUNet) is developed, where the residual block with the channel attention is integrated. The proposed framework can not only generate the grasp pose from… read more here.
Keywords: resunet novel; novel robotic; grasp; grasp detection ... See more keywords
When Transformer Meets Robotic Grasping: Exploits Context for Efficient Grasp Detection
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3187261
Abstract: In this letter, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well suitable for visual grasping tasks. The first key design is… read more here.
Keywords: transformer meets; meets robotic; grasp; grasp detection ... See more keywords
SymmetryGrasp: Symmetry-Aware Antipodal Grasp Detection From Single-View RGB-D Images
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3214785
Abstract: Symmetry is ubiquitous in everyday objects. Humans tend to grasp objects by recognizing the symmetric regions. In this letter, we investigate how symmetry could boost robotic grasp detection. To this end, we present a learning-based… read more here.
Keywords: grasp; grasp detection; symmetry; view rgb ... See more keywords
AAGDN: Attention-Augmented Grasp Detection Network Based on Coordinate Attention and Effective Feature Fusion Method
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3268596
Abstract: High-precision robotic grasping is necessary for extensive grasping applications in the future. Most previous grasp detection methods fail to pay enough attention to learn grasp-related features and the detection accuracy is limited. In this letter,… read more here.
Keywords: attention; attention augmented; feature; grasp detection ... See more keywords
High-Performance Pixel-Level Grasp Detection Based on Adaptive Grasping and Grasp-Aware Network
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3120474
Abstract: Machine vision-based planar grasping detection is challenging due to uncertainty about object shape, pose, size, etc. Previous methods mostly focus on predicting discrete gripper configurations, and may miss some ground-truth grasp postures. In this article,… read more here.
Keywords: pixel level; network; grasp; grasp detection ... See more keywords
EGNet: Efficient Robotic Grasp Detection Network
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3174274
Abstract: In this paper, a novel grasp detection network, Efficient Grasp detection Network (EGNet), is proposed to deal with the grasp challenging in stacked scenes, which complete the tasks of the object detection, grasp detection and… read more here.
Keywords: detection network; grasp; egnet; detection ... See more keywords
A Novel Generative Convolutional Neural Network for Robot Grasp Detection on Gaussian Guidance
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2022.3203118
Abstract: The vision-based grasp detection method is an important research direction in the field of robotics. However, due to the rectangle metric of the grasp detection rectangle’s limitation, a false-positive grasp occurs, resulting in the failure… read more here.
Keywords: network; robot grasp; grasp; detection ... See more keywords
A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes
Sign Up to like & getrecommendations! Published in 2023 at "Frontiers in Computational Neuroscience"
DOI: 10.3389/fncom.2023.1110889
Abstract: Object detection and grasp detection are essential for unmanned systems working in cluttered real-world environments. Detecting grasp configurations for each object in the scene would enable reasoning manipulations. However, finding the relationships between objects and… read more here.
Keywords: detection grasp; grasp; detection; object detection ... See more keywords
A Practical Multi-Stage Grasp Detection Method for Kinova Robot in Stacked Environments
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DOI: 10.3390/mi14010117
Abstract: Grasp detection takes on a critical significance for the robot. However, detecting object positions and corresponding grasp positions in a stacked environment can be quite difficult for a robot. Based on this practical problem, in… read more here.
Keywords: detection; robot; multi stage; grasp detection ... See more keywords