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arXiv · 1412.3128

Real-Time Grasp Detection Using Convolutional Neural Networks

Joseph Redmon·Anelia Angelova
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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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Joseph Redmon, Anelia Angelova. 2014-12-09. Real-Time Grasp Detection Using Convolutional Neural Networks. https://arxiv.org/abs/1412.3128

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