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A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes
Object detection and grasp detection are essential for unmanned systems working in cluttered real-world environments. Detecting grasp configurations for each object in the scene would enable reasoning manipulations. However, finding the relationships between objects and grasp configurations is still...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9986287/ https://www.ncbi.nlm.nih.gov/pubmed/36890968 http://dx.doi.org/10.3389/fncom.2023.1110889 |
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author | Zhang, Yang Xie, Lihua Li, Yuheng Li, Yuan |
author_facet | Zhang, Yang Xie, Lihua Li, Yuheng Li, Yuan |
author_sort | Zhang, Yang |
collection | PubMed |
description | Object detection and grasp detection are essential for unmanned systems working in cluttered real-world environments. Detecting grasp configurations for each object in the scene would enable reasoning manipulations. However, finding the relationships between objects and grasp configurations is still a challenging problem. To achieve this, we propose a novel neural learning approach, namely SOGD, to predict a best grasp configuration for each detected objects from an RGB-D image. The cluttered background is first filtered out via a 3D-plane-based approach. Then two separate branches are designed to detect objects and grasp candidates, respectively. The relationship between object proposals and grasp candidates are learned by an additional alignment module. A series of experiments are conducted on two public datasets (Cornell Grasp Dataset and Jacquard Dataset) and the results demonstrate the superior performance of our SOGD against SOTA methods in predicting reasonable grasp configurations “from a cluttered scene.” |
format | Online Article Text |
id | pubmed-9986287 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-99862872023-03-07 A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes Zhang, Yang Xie, Lihua Li, Yuheng Li, Yuan Front Comput Neurosci Neuroscience Object detection and grasp detection are essential for unmanned systems working in cluttered real-world environments. Detecting grasp configurations for each object in the scene would enable reasoning manipulations. However, finding the relationships between objects and grasp configurations is still a challenging problem. To achieve this, we propose a novel neural learning approach, namely SOGD, to predict a best grasp configuration for each detected objects from an RGB-D image. The cluttered background is first filtered out via a 3D-plane-based approach. Then two separate branches are designed to detect objects and grasp candidates, respectively. The relationship between object proposals and grasp candidates are learned by an additional alignment module. A series of experiments are conducted on two public datasets (Cornell Grasp Dataset and Jacquard Dataset) and the results demonstrate the superior performance of our SOGD against SOTA methods in predicting reasonable grasp configurations “from a cluttered scene.” Frontiers Media S.A. 2023-02-20 /pmc/articles/PMC9986287/ /pubmed/36890968 http://dx.doi.org/10.3389/fncom.2023.1110889 Text en Copyright © 2023 Zhang, Xie, Li and Li. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Neuroscience Zhang, Yang Xie, Lihua Li, Yuheng Li, Yuan A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes |
title | A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes |
title_full | A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes |
title_fullStr | A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes |
title_full_unstemmed | A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes |
title_short | A neural learning approach for simultaneous object detection and grasp detection in cluttered scenes |
title_sort | neural learning approach for simultaneous object detection and grasp detection in cluttered scenes |
topic | Neuroscience |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9986287/ https://www.ncbi.nlm.nih.gov/pubmed/36890968 http://dx.doi.org/10.3389/fncom.2023.1110889 |
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