Knowledge Commons of Institute of Automation,CAS
Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention | |
Ren, Guangli1,2![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Transactions on Circuits and Systems for Video Technology
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2023 | |
卷号 | 33期号:8页码:4002-4010 |
摘要 | The grasp detection is crucial to high-quality robotic grasping. Typically, the mainstream encoder-decoder regression solution is attractive due to its high accuracy and efficiency, however, it is still challenging to solve the checkerboard artifacts from the uneven overlap of convolution results in decoder, and features from the encoder also need to be further refined. In this paper, a novel pixel-wise grasp detection network is proposed, which is composed of an encoder, a multi-dimensional attention bottleneck, and a decoder based on twin deconvolution. The proposed decoder introduces a twin branch upon the original transposed convolution branch. Through the overlap degree matrix provided by the twin branch, the original branch is re-weighted and then the checkerboard artifacts of the original branch are eliminated. Besides, to deeply explore the intrinsic relationship of features and strengthen feature discrimination, residual multi-head self-attention, cross-amplitude attention, and channel attention are integrated together. As a result, adaptive feature refinement is achieved. The effectiveness of the proposed method is verified by experiments. |
收录类别 | SCI |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56561 |
专题 | 多模态人工智能系统全国重点实验室 |
通讯作者 | Cao, Zhiqiang |
作者单位 | 1.The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences 2.The School of Artificial Intelligence, University of Chinese Academy of Sciences 3.The Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Ren, Guangli,Geng, Wenjie,Guan, Peiyu,et al. Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention[J]. IEEE Transactions on Circuits and Systems for Video Technology,2023,33(8):4002-4010. |
APA | Ren, Guangli,Geng, Wenjie,Guan, Peiyu,Cao, Zhiqiang,&Yu, Junzhi.(2023).Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention.IEEE Transactions on Circuits and Systems for Video Technology,33(8),4002-4010. |
MLA | Ren, Guangli,et al."Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention".IEEE Transactions on Circuits and Systems for Video Technology 33.8(2023):4002-4010. |
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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 | ||
Pixel-Wise_Grasp_Det(4013KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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