The DOI matches its Crossref record; 22 of the 22 references it cites were found in a registry or an index.
Real-time grasp detection using convolutional neural networks
Abstract
We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal techniques. The model outperforms state-of-the-art approaches by 14 percentage points and runs at 13 frames per second on a GPU. Our network can simultaneously perform classification so that in a single step it recognizes the object and finds a good grasp rectangle. A modification to this model predicts multiple grasps per object by using a locally constrained prediction mechanism. The locally constrained model performs significantly better, especially on objects that can be grasped in a variety of ways.
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Cites
ImageNet classification with deep convolutional neural networks
Krizhevsky, A., Sutskever, I., & Hinton, G. E. (2017) · Communications of the ACM · doi:10.1145/3065386 · Cited by 112,155
ImageNet: A large-scale hierarchical image database
Deng, J., Dong, W., Socher, R., Li, L.-J., Li, K., & Fei-Fei, L. (2009) · 2009 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2009.5206848 · Cited by 65,333
Rich Feature Hierarchies for Accurate Object Detection and Semantic Segmentation
Girshick, R., Donahue, J., Darrell, T., & Malik, J. (2014) · 2014 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2014.81 · Cited by 32,684
DeCAF: A Deep Convolutional Activation Feature for Generic Visual Recognition
Donahue, J., Jia, Y., Vinyals, O., Hoffman, J., Zhang, N., Tzeng, E., & Darrell, T. (2013) · arXiv · doi:10.48550/arxiv.1310.1531 · Cited by 4,019
Learning and Transferring Mid-level Image Representations Using Convolutional Neural Networks
Oquab, M., Bottou, L., Laptev, I., & Sivic, J. (2014) · 2014 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2014.222 · Cited by 3,150 · cited 1×
“neural networks greatly improves training time and helps avoid overfitting [21] [22].”
BackgroundDeep learning for detecting robotic grasps
Lenz, I., Lee, H., & Saxena, A. (2015) · The International Journal of Robotics Research · doi:10.1177/0278364914549607 · Cited by 1,634
A large-scale hierarchical multi-view RGB-D object dataset
Lai, K., Bo, L., Ren, X., & Fox, D. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980382 · Cited by 1,316
Deep Neural Networks for Object Detection
Szegedy, C., Toshev, A., & Erhan, D. (2013) · Cited by 1,313
Scalable Object Detection Using Deep Neural Networks
Erhan, D., Szegedy, C., Toshev, A., & Anguelov, D. (2014) · 2014 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2014.276 · Cited by 1,161 · cited 1×
“predict multiple bounding boxes and confidence scores associated with those bounding boxes [18].”
BackgroundRobotic grasping and contact: a review
Bicchi, A., & Kumar, V. (2002) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844081 · Cited by 1,069
Cited by
You Only Look Once: Unified, Real-Time Object Detection
Redmon, J., Divvala, S., Girshick, R., & Farhadi, A. (2016) · 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2016.91 · Cited by 53,803
Self-citationLevine, S., Pastor, P., Krizhevsky, A., Ibarz, J., & Quillen, D. (2018) · The International Journal of Robotics Research · doi:10.1177/0278364917710318 · Cited by 1,971
GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping
Fang, H.-S., Wang, C., Gou, M., & Lu, C. (2020) · 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr42600.2020.01146 · Cited by 683
Learning Synergies Between Pushing and Grasping with Self-Supervised Deep Reinforcement Learning
Zeng, A., Song, S., Welker, S., Lee, J., Rodriguez, A., & Funkhouser, T. (2018) · 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593986 · Cited by 606
Grasp Pose Detection in Point Clouds
ten Pas, A., Gualtieri, M., Saenko, K., & Platt, R. (2017) · The International Journal of Robotics Research · doi:10.1177/0278364917735594 · Cited by 594
Metadata
- Authors
- Redmon, J., & Angelova, A.
- Venue
- 2015 IEEE International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2015-05
- Pages
- 1316-1322
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1892339738
- Cited by
- 893
- References
- 22
- FWCI
- 59.57
- Type
- conference paper
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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