Matches in SemOpenAlex for { <https://semopenalex.org/work/W4383502624> ?p ?o ?g. }
Showing items 1 to 99 of
99
with 100 items per page.
- W4383502624 abstract "Grasp detection is an essential task for robots to achieve autonomous operation, it can also make virtual reality-based teleoperation more intelligent and reliable. Existing learning-based grasp detection methods usually fail to strike a balance between high accuracy and low time consumption. Also, the large number of model parameters tends to make these methods expensive to deploy. To solve this problem, a lightweight generative grasp detection network DSC-GraspNet is proposed. Firstly, Depth-separable convolutional blocks with Coordinate Attention (CA) are stacked to obtain a lightweight backbone network for feature extraction. Then multi-level features extracted by the backbone network are fused by the Cross Stage Partial (CSP) block in the up-sampling network. Finally, pixel-level grasp candidates are generated by grasp generating heads. Experimental results shows that an accuracy of 98.3% under image-wise splitting and 97.7% under object-wise splitting can be achieved on the Cornell public dataset. Meanwhile, an accuracy of 94.7% is achieved on the Jacquard dataset using the depth map as inputs. Our method also achieve a grasp success rate of 86.4% in the simulated grasp test. In addition, our network is able to inference an RGB-D image within 14ms, and can be applied to closed-loop grasping scenarios." @default.
- W4383502624 created "2023-07-08" @default.
- W4383502624 creator A5029803377 @default.
- W4383502624 creator A5036457775 @default.
- W4383502624 creator A5037335978 @default.
- W4383502624 creator A5062028155 @default.
- W4383502624 creator A5062259874 @default.
- W4383502624 date "2023-05-12" @default.
- W4383502624 modified "2023-09-24" @default.
- W4383502624 title "DSC-GraspNet: A Lightweight Convolutional Neural Network for Robotic Grasp Detection" @default.
- W4383502624 cites W1892339738 @default.
- W4383502624 cites W1903029394 @default.
- W4383502624 cites W1999156278 @default.
- W4383502624 cites W2011792403 @default.
- W4383502624 cites W2123435073 @default.
- W4383502624 cites W2131535595 @default.
- W4383502624 cites W2167654586 @default.
- W4383502624 cites W2201912979 @default.
- W4383502624 cites W2302255633 @default.
- W4383502624 cites W2523315006 @default.
- W4383502624 cites W2572996265 @default.
- W4383502624 cites W2736762515 @default.
- W4383502624 cites W2808521881 @default.
- W4383502624 cites W2824754393 @default.
- W4383502624 cites W2962821282 @default.
- W4383502624 cites W2962875890 @default.
- W4383502624 cites W2963326767 @default.
- W4383502624 cites W2963669336 @default.
- W4383502624 cites W2967869116 @default.
- W4383502624 cites W3000909746 @default.
- W4383502624 cites W3042011474 @default.
- W4383502624 cites W3130885760 @default.
- W4383502624 cites W3160770508 @default.
- W4383502624 cites W3177052299 @default.
- W4383502624 cites W4221167790 @default.
- W4383502624 doi "https://doi.org/10.1109/icvr57957.2023.10169448" @default.
- W4383502624 hasPublicationYear "2023" @default.
- W4383502624 type Work @default.
- W4383502624 citedByCount "0" @default.
- W4383502624 crossrefType "proceedings-article" @default.
- W4383502624 hasAuthorship W4383502624A5029803377 @default.
- W4383502624 hasAuthorship W4383502624A5036457775 @default.
- W4383502624 hasAuthorship W4383502624A5037335978 @default.
- W4383502624 hasAuthorship W4383502624A5062028155 @default.
- W4383502624 hasAuthorship W4383502624A5062259874 @default.
- W4383502624 hasConcept C138885662 @default.
- W4383502624 hasConcept C153180895 @default.
- W4383502624 hasConcept C154945302 @default.
- W4383502624 hasConcept C161759796 @default.
- W4383502624 hasConcept C171268870 @default.
- W4383502624 hasConcept C199360897 @default.
- W4383502624 hasConcept C2524010 @default.
- W4383502624 hasConcept C2776214188 @default.
- W4383502624 hasConcept C2776401178 @default.
- W4383502624 hasConcept C2777210771 @default.
- W4383502624 hasConcept C31972630 @default.
- W4383502624 hasConcept C33923547 @default.
- W4383502624 hasConcept C41008148 @default.
- W4383502624 hasConcept C41895202 @default.
- W4383502624 hasConcept C52622490 @default.
- W4383502624 hasConcept C81363708 @default.
- W4383502624 hasConcept C82990744 @default.
- W4383502624 hasConcept C90509273 @default.
- W4383502624 hasConceptScore W4383502624C138885662 @default.
- W4383502624 hasConceptScore W4383502624C153180895 @default.
- W4383502624 hasConceptScore W4383502624C154945302 @default.
- W4383502624 hasConceptScore W4383502624C161759796 @default.
- W4383502624 hasConceptScore W4383502624C171268870 @default.
- W4383502624 hasConceptScore W4383502624C199360897 @default.
- W4383502624 hasConceptScore W4383502624C2524010 @default.
- W4383502624 hasConceptScore W4383502624C2776214188 @default.
- W4383502624 hasConceptScore W4383502624C2776401178 @default.
- W4383502624 hasConceptScore W4383502624C2777210771 @default.
- W4383502624 hasConceptScore W4383502624C31972630 @default.
- W4383502624 hasConceptScore W4383502624C33923547 @default.
- W4383502624 hasConceptScore W4383502624C41008148 @default.
- W4383502624 hasConceptScore W4383502624C41895202 @default.
- W4383502624 hasConceptScore W4383502624C52622490 @default.
- W4383502624 hasConceptScore W4383502624C81363708 @default.
- W4383502624 hasConceptScore W4383502624C82990744 @default.
- W4383502624 hasConceptScore W4383502624C90509273 @default.
- W4383502624 hasFunder F4320322559 @default.
- W4383502624 hasFunder F4320329861 @default.
- W4383502624 hasLocation W43835026241 @default.
- W4383502624 hasOpenAccess W4383502624 @default.
- W4383502624 hasPrimaryLocation W43835026241 @default.
- W4383502624 hasRelatedWork W2059299633 @default.
- W4383502624 hasRelatedWork W2557924869 @default.
- W4383502624 hasRelatedWork W2732542196 @default.
- W4383502624 hasRelatedWork W2760085659 @default.
- W4383502624 hasRelatedWork W2940661641 @default.
- W4383502624 hasRelatedWork W2940977206 @default.
- W4383502624 hasRelatedWork W2995914718 @default.
- W4383502624 hasRelatedWork W3000098384 @default.
- W4383502624 hasRelatedWork W3008091119 @default.
- W4383502624 hasRelatedWork W4287903832 @default.
- W4383502624 isParatext "false" @default.
- W4383502624 isRetracted "false" @default.
- W4383502624 workType "article" @default.