Efficient Fully Convolutional Network and Optimization Approach for Robotic Grasping Detection Based on RGB-D Images
Efficient Fully Convolutional Network and Optimization Approach for Robotic Grasping Detection Based on RGB-D Images
Wei Nie,Xinwu Liang
2023 · DOI: 10.1007/s12204-023-2615-x
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TLDR
An efficient fully convolutional network is proposed to predict the pixel-level antipodal grasp parameters in RGB-D images and a grasp configuration optimization method based on local grasp path is proposed to cope with the possible failures predicted by the model.