A Novel Vision-Based Grasping Method Under Occlusion for Manipulating Robotic System

doi:10.1109/JSEN.2020.2995395

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室

	A Novel Vision-Based Grasping Method Under Occlusion for Manipulating Robotic System
	Yu, Yingying 2,3; Cao, Zhiqiang 2,3; Liang, Shuang 2,3; Geng, Wenjie 2,3; Yu, Junzhi 1,4
刊名	IEEE SENSORS JOURNAL
	2020-09-15
卷号	20 期号:18 页码:10996-11006
关键词	Manipulating robotic system vision-based grasping convolutional neural network occlusion image inpainting
ISSN号	1530-437X
DOI	10.1109/JSEN.2020.2995395
通讯作者	Cao, Zhiqiang(zhiqiang.cao@ia.ac.cn)
英文摘要	The capability to grasp the target object is significant for manipulating robotic systems to offer better services, and it is still challenging under occlusion. This paper proposes a novel vision-based grasping method with a SSD-based detector, an image inpainting and recognition network (IRNet), and a deep grasping guidance network (DgGNet). Based on the clustering of point cloud, IRNet with the combination of a three-stage image inpainting network and a recognition network MobileNet v2 is introduced to detect the occluded object that cannot be found by the detector. Then, the best grasp for the object to be grasped is obtained by DgGNet, which provides the guidance of the manipulator movement. The image inpainting is firstly introduced into the object detection of manipulating robotic system where the recognition based on inpainting result improves the robustness to occlusion. Experimental results validate the effectiveness of the proposed method.
资助项目	National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61836015] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS21]
WOS研究方向	Engineering ; Instruments & Instrumentation ; Physics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000575389000070
资助机构	National Natural Science Foundation of China ; Beijing Advanced Innovation Center for Intelligent Robots and Systems
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42065]
专题	自动化研究所_复杂系统管理与控制国家重点实验室
通讯作者	Cao, Zhiqiang
作者单位	1.Peking Univ, Coll Engn, Dept Mech & Engn Sci, Beijing Innovat Ctr Engn Sci & Adv Technol BIC ES, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci CASIA, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Yu, Yingying,Cao, Zhiqiang,Liang, Shuang,et al. A Novel Vision-Based Grasping Method Under Occlusion for Manipulating Robotic System[J]. IEEE SENSORS JOURNAL,2020,20(18):10996-11006.
APA	Yu, Yingying,Cao, Zhiqiang,Liang, Shuang,Geng, Wenjie,&Yu, Junzhi.(2020).A Novel Vision-Based Grasping Method Under Occlusion for Manipulating Robotic System.IEEE SENSORS JOURNAL,20(18),10996-11006.
MLA	Yu, Yingying,et al."A Novel Vision-Based Grasping Method Under Occlusion for Manipulating Robotic System".IEEE SENSORS JOURNAL 20.18(2020):10996-11006.