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A refined robotic grasp detection network based on coarse-to-fine feature and residual attention

Published online by Cambridge University Press:  28 November 2024

Zhenwei Zhu Open the ORCID record for Zhenwei Zhu [Opens in a new window] ,
Saike Huang Open the ORCID record for Saike Huang [Opens in a new window] ,
Jialong Xie ,
Yue Meng ,
Chaoqun Wang  and
Fengyu Zhou
Zhenwei Zhu
Affiliation:
School of Control Science and Engineering, Shandong University, Jinan, Shandong, China
Saike Huang
Affiliation:
School of Control Science and Engineering, Shandong University, Jinan, Shandong, China
Jialong Xie
Affiliation:
School of Control Science and Engineering, Shandong University, Jinan, Shandong, China
Yue Meng
Affiliation:
School of Control Science and Engineering, Shandong University, Jinan, Shandong, China
Chaoqun Wang
Affiliation:
School of Control Science and Engineering, Shandong University, Jinan, Shandong, China
Fengyu Zhou*
Affiliation:
School of Control Science and Engineering, Shandong University, Jinan, Shandong, China
*
Corresponding author: Fengyu Zhou; Email: zhoufengyu@sdu.edu.cn
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Abstract

Precise and efficient grasping detection is vital for robotic arms to execute stable grasping tasks in industrial and household applications. However, existing methods fail to consider refining different scale features and detecting critical regions, resulting in coarse grasping rectangles. To address these issues, we propose a real-time coarse and fine granularity residual attention (CFRA) grasping detection network. First, to enable the network to detect different sizes of objects, we extract and fuse the coarse and fine granularity features. Then, we refine these fused features by introducing a feature refinement module, which enables the network to distinguish between object and background features effectively. Finally, we introduce a residual attention module that handles different shapes of objects adaptively, achieving refined grasping detection. We complete training and testing on both Cornell and Jacquard datasets, achieving detection accuracy of 98.7% and 94.2%, respectively. Moreover, the grasping success rate on the real-world UR3e robot achieves 98%. These results demonstrate the effectiveness and superiority of CFRA.

Keywords

Robotic graspingdeep learninggrasping detectionmulti-scale featuresattention mechanism

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 2 , February 2025 , pp. 415 - 432
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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Footnotes

The first two authors contributed equally to this work.

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