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 3 不同方法的模型性能和参数大小对比结果

Tab.3 Comparison results of network performance and size for different methods

方法 A/% v/ms P/M F/G Image-wise Object-wise Kumra 等[11] 89. 21 88. 96 103 >32 — Chu 等[14] 96. 00 96. 10 120 28. 18 — Zhou 等[15] 97. 74 96. 61 118 >30 — Morrison 等 [16] 73. 00 69. 00 19 0. 062 — 夏晶等[8] 93. 80 91. 30 57 >46 — 张云洲等[7] 95. 71 94. 01 17 >12 — RTGN 98. 26 97. 65 7 1. 660 8. 00