喻群超, 尚伟伟, 张驰. 基于三级卷积神经网络的物体抓取检测[J]. 机器人, 2018, 40(5): 762-768. DOI: 10.13973/j.cnki.robot.170476
引用本文: 喻群超, 尚伟伟, 张驰. 基于三级卷积神经网络的物体抓取检测[J]. 机器人, 2018, 40(5): 762-768. DOI: 10.13973/j.cnki.robot.170476
YU Qunchao, SHANG Weiwei, ZHANG Chi. Object Grasp Detecting Based on Three-level Convolution Neural Network[J]. ROBOT, 2018, 40(5): 762-768. DOI: 10.13973/j.cnki.robot.170476
Citation: YU Qunchao, SHANG Weiwei, ZHANG Chi. Object Grasp Detecting Based on Three-level Convolution Neural Network[J]. ROBOT, 2018, 40(5): 762-768. DOI: 10.13973/j.cnki.robot.170476

基于三级卷积神经网络的物体抓取检测

Object Grasp Detecting Based on Three-level Convolution Neural Network

  • 摘要: 借鉴人类抓取物体的特点,提出一种三级串联卷积神经网络用于物体抓取框的检测,实现了对未知物体的高准确度抓取.在所提出的三级串联卷积神经网络中:第1级用于物体的初步定位,为下一级卷积神经网络搜索抓取框确定位置;第2级用于获取预选抓取框,以较小的网络获取较少的特征,从而快速地找出物体的可用抓取框,剔除不可用的抓取框;第3级用于重新评判预选抓取框,以较大的网络获取较多的特征,从而准确地评估每个预选抓取框,获取最佳抓取框.测试结果表明,与单一卷积神经网络相比,三级网络获得抓取框的正确率提高了6.1%,最终在实际Youbot机器人上实现了高准确度的抓取操作.

     

    Abstract: Referring to the characteristics of object grasp of human, a three-level serial convolution neural network (CNN) for object grasp detecting is proposed to realize high-accuracy grasp of unknown objects. In the proposed three-level serial CNN, the first level network can locate the object position roughly to determine the position for the searching of the grasping rectangles in the next level CNN. The second level network is used to obtain the preselected grasping rectangles and get very less features with a quite small network, so as to quickly find out the available object grasping rectangles and to eliminate unavailable object grasping rectangles. The third level network is applied to reevaluating the preselected object grasping rectangles and get more features with a bigger network to exactly evaluate every preselected object grasping rectangle and obtain the best preselected object grasping rectangle. The experimental results validate that the grasping accuracy of the three-level serial CNN increases by 6.1% compared with the single CNN. Finally, the three-level CNN realizes high-accuracy grasping with an actual Youbot.

     

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