DeepAI AI Chat
Log In Sign Up

A Single Multi-Task Deep Neural Network with Post-Processing for Object Detection with Reasoning and Robotic Grasp Detection

09/16/2019
by   Dongwon Park, et al.
UNIST
18

Recently, robotic grasp detection (GD) and object detection (OD) with reasoning have been investigated using deep neural networks (DNNs). There have been works to combine these multi-tasks using separate networks so that robots can deal with situations of grasping specific target objects in the cluttered, stacked, complex piles of novel objects from a single RGB-D camera. We propose a single multi-task DNN that yields the information on GD, OD and relationship reasoning among objects with a simple post-processing. Our proposed methods yielded state-of-the-art performance with the accuracy of 98.6 the computation speed of 33 and 62 frame per second on VMRD and Cornell datasets, respectively. Our methods also yielded 95.3 single novel object grasping with a 4-axis robot arm and 86.7 rate in cluttered novel objects with a Baxter robot.

READ FULL TEXT

page 1

page 3

page 5

page 6

09/19/2018

RPRG: Toward Real-time Robotic Perception, Reasoning and Grasping with One Multi-task Convolutional Neural Network

Autonomous robotic grasp plays an important role in intelligent robotics...
11/02/2018

Dealing with Ambiguity in Robotic Grasping via Multiple Predictions

Humans excel in grasping and manipulating objects because of their life-...
02/01/2018

Deep Grasp: Detection and Localization of Grasps with Deep Neural Networks

A deep learning architecture is proposed to predict graspable locations ...
08/31/2020

Switchable Deep Beamformer

Recent proposals of deep beamformers using deep neural networks have att...
09/04/2019

Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation

Precise robotic grasping is important for many industrial applications, ...
04/28/2020

Event-based Robotic Grasping Detection with Neuromorphic Vision Sensor and Event-Stream Dataset

Robotic grasping plays an important role in the field of robotics. The c...