CASIA OpenIR
A Two-Stream CNN With Simultaneous Detection and Segmentation for Robotic Grasping
Yu, Yingying1,2; Cao, Zhiqiang1,2; Liu, Zhicheng1,2; Geng, Wenjie1,2; Yu, Junzhi1,3; Zhang, Weimin4
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN2168-2216
2022-02-01
Volume52Issue:2Pages:1167-1181
Corresponding AuthorCao, Zhiqiang(zhiqiang.cao@ia.ac.cn)
AbstractThe manipulating robots receive much attention by offering better services, where object grasping is still challenging especially under background interferences. In this article, a novel two-stream grasping convolutional neural network (CNN) with simultaneous detection and segmentation is proposed. The proposed method is cascaded by an improved simultaneous detection and segmentation network BlitzNet and a two-stream grasping CNN TsGNet. The improved BlitzNet introduces the channel-based attention mechanism, and achieves an improvement of detection accuracy and segmentation accuracy with the combination of the learning of multitask loss weightings and background suppression. Based on the obtained bounding box and the segmentation mask of the target object, the target object is separated from the background, and the corresponding depth map and grayscale map are sent to TsGNet. By adopting depthwise separable convolution and designed global deconvolution network, TsGNet achieves the best grasp detection with only a small amount of network parameters. This best grasp in the pixel coordinate system is converted to a desired 6-D pose for the robot, which drives the manipulator to execute grasping. The proposed method combines a grasping CNN with simultaneous detection and segmentation to achieve the best grasp with a good adaptability to background. With the Cornell grasping dataset, the image-wise accuracy and object-wise accuracy of the proposed TsGNet are 93.13% and 92.99%, respectively. The effectiveness of the proposed method is verified by the experiments.
KeywordGrasping Robot kinematics Manipulators Image segmentation Deconvolution Machine learning Global deconvolution network (GDN) robotic grasping simultaneous detection and segmentation two-stream grasping convolutional neural network (CNN)
DOI10.1109/TSMC.2020.3018757
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61836015] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS21]
Funding OrganizationNational Natural Science Foundation of China ; Beijing Advanced Innovation Center for Intelligent Robots and Systems
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000742732900053
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/47916
Collection中国科学院自动化研究所
Corresponding AuthorCao, Zhiqiang
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT Coll Engn, Beijing 100871, Peoples R China
4.Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yu, Yingying,Cao, Zhiqiang,Liu, Zhicheng,et al. A Two-Stream CNN With Simultaneous Detection and Segmentation for Robotic Grasping[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2022,52(2):1167-1181.
APA Yu, Yingying,Cao, Zhiqiang,Liu, Zhicheng,Geng, Wenjie,Yu, Junzhi,&Zhang, Weimin.(2022).A Two-Stream CNN With Simultaneous Detection and Segmentation for Robotic Grasping.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,52(2),1167-1181.
MLA Yu, Yingying,et al."A Two-Stream CNN With Simultaneous Detection and Segmentation for Robotic Grasping".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 52.2(2022):1167-1181.
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