轻量化机器人抓取位姿实时检测算法

宋明俊,严文,邓益昭,张俊然,涂海燕

Light-weight algorithm for real-time robotic grasp detection

Mingjun SONG,Wen YAN,Yizhao DENG,Junran ZHANG,Haiyan TU

表 1 Cornell抓取数据集上不同算法对比结果

Tab.1 Comparison results of different algorithms on Cornell grasping dataset

方法 A/% v/ms Image-wise Object-wise Jiang 等[5] 60. 50 58. 30 5000 Lenz 等[6] 73. 90 75. 60 1350 Redmon 等[10] 88. 00 87. 10 76 Kumra 等[11] 89. 21 88. 96 103 Guo 等[13] 93. 20 89. 10 — Chu 等[14] 96. 00 96. 10 120 Zhou 等[15] 97. 74 96. 61 118 夏晶等[8] 93. 80 91. 30 57 喻群超等[9] 94. 10 93. 30 — 张云洲等[7] 95. 71 94. 01 17 Morrison 等[16] 73. 00 69. 00 19 Kumra 等[17] 97. 70 96. 60 20 Cheng 等[18] 98. 00 97. 00 73 Wang 等[19] 97. 99 96. 70 41. 6 RTGN 98. 26 97. 65 7