Optics and Precision Engineering, Volume. 32, Issue 18, 2792(2024)
Occluded target grasping detection method based on spatial information aggregation
Figures & Tables(14)
Table 1. Comparison experiment of detection accuracy
View tableView in ArticleTable 1. Comparison experiment of detection accuracy
模型 无遮挡Cornell Grasp准确率/% 有遮挡自建数据集准确率/% FPS（frame/s） GGCNN［ 13 ］73.0 64.3 25 SAE［ 5 ］73.9 65.5 0.6 GR-CNN［ 6 ］97.7 90.2 25 TF-grasp［ 8 ］97.9 91.1 13 SE-ResUNet［ 7 ］98.2 90.9 27 SIANET 98.9 94.7 30
Table 2. Dissolution experiment of the self-built dataset
View tableView in ArticleTable 2. Dissolution experiment of the self-built dataset
网络结构 准确率/% 残差卷积结构 90.2 残差卷积结构+坐标卷积特征提取 91.9 残差卷积结构+空间信息聚合模块 93.1 SIANET 94.7
Table 3. Comparison experiment of Jacquard dataset
View tableView in ArticleTable 3. Comparison experiment of Jacquard dataset
网络结构 准确率/% GGCNN ［ 13 ］84.0 GR-CNN ［ 6 ］94.6 TF-grasp ［ 8 ］94.6 SE-ResUNet ［ 7 ］95.7 SIANET 96.0
Table 4. Actual capture of experimental results
View tableView in ArticleTable 4. Actual capture of experimental results
模型 抓取成功率/% GGCNN［ 13 ］85 TF-grasp［ 8 ］88 GR-CNN［ 6 ］89 SE-ResUNet［ 7 ］90 SIANET 93
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Renxiang CHEN, Tianran QIU, Lixia YANG, Zhitong ZHANG, Liang XIA. Occluded target grasping detection method based on spatial information aggregation[J]. Optics and Precision Engineering, 2024, 32(18): 2792
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Received: May. 16, 2024
Accepted: --
Published Online: Nov. 18, 2024
The Author Email: Renxiang CHEN (manlou.yue@126.com)
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