Knowledge Commons of Institute of Automation,CAS
A Grasping CNN with Image Segmentation for Mobile Manipulating Robot | |
Yu, Yingying1,2; Cao, Zhiqiang1,2; Liang, Shuang1,2; Liu, Zhicheng1,2; Yu, Junzhi1,2; Chen, Xuechao3 | |
2019-12 | |
会议名称 | 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
会议日期 | 6-8 Dec. 2019 |
会议地点 | Dali, China |
摘要 | This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot. |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 多模态智能 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/40400 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences 3.Beijing Advanced Innovation Center for Intelligent Robots and Systems, Intelligent Robotics Institute, BIT |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Yu, Yingying,Cao, Zhiqiang,Liang, Shuang,et al. A Grasping CNN with Image Segmentation for Mobile Manipulating Robot[C],2019. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Grasping CNN with (4054KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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