轻量化机器人抓取位姿实时检测算法
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宋明俊,严文,邓益昭,张俊然,涂海燕
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Light-weight algorithm for real-time robotic grasp detection
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Mingjun SONG,Wen YAN,Yizhao DENG,Junran ZHANG,Haiyan TU
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| 表 2 Cornell数据集上模块消融实验对比结果 |
| Tab.2 Ablation experiments on Cornell grasping dataset |
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| 网络架构 | A/% | v/ms | | Image-wise | Object-wise | | MDM-Backbone | 97. 73 | 96. 80 | 5. 29 | | +CBAM | 97. 86(+0. 13) | 96. 90(+0. 10) | 6. 42 | | +MAM | 97. 91(+0. 18) | 97. 00(+0. 20) | 6. 60 | | +PPM | 97. 95(+0. 22) | 97. 03(+0. 23) | 5. 64 | | +CBAM+PPM | 98. 08(+0. 35) | 97. 18(+0. 38) | 6. 74 | | +MAM+PPM | 98. 26(+0. 53) | 97. 65(+0. 85) | 6. 96 |
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