CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Conference Name2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference Date6-8 Dec. 2019
Conference PlaceDali, China
Abstract

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.

Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/40400
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yu, Yingying,Cao, Zhiqiang,Liang, Shuang,et al. A Grasping CNN with Image Segmentation for Mobile Manipulating Robot[C],2019.
Files in This Item: Download All
File Name/Size DocType Version Access License
A Grasping CNN with (4054KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yu, Yingying]'s Articles
[Cao, Zhiqiang]'s Articles
[Liang, Shuang]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yu, Yingying]'s Articles
[Cao, Zhiqiang]'s Articles
[Liang, Shuang]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yu, Yingying]'s Articles
[Cao, Zhiqiang]'s Articles
[Liang, Shuang]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: A Grasping CNN with Image Segmentation for Mobile Manipulating Robot.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.