SIA OpenIR  > 其他
Robust robot grasp detection in multimodal fusion
Zhang Q(张强); Qu DK(曲道奎); Xu F(徐方); Zou FS(邹风山)
Department其他
Conference Name3rd International Conference on Mechanical, Electronic and Information Technology Engineering, ICMITE 2017
Conference DateDecember 16-17, 2017
Conference PlaceChengdu, China
Source Publication2017 3rd International Conference on Mechanical, Electronic and Information Technology Engineering, ICMITE 2017
PublisherEDP Sciences
Publication PlaceLes Ulis Cedex A, France
2017
Pages1-5
Indexed ByEI
EI Accession number20175304593500
Contribution Rank1
ISSN2261-236X
AbstractAccurate robot grasp detection for model free objects plays an important role in robotics. With the development of RGB-D sensors, object perception technology has made great progress. Reach feature expression by the colour and the depth data is a critical problem that needs to be addressed in order to accomplish the grasping task. To solve the problem of data fusion, this paper proposes a convolutional neural networks (CNN) based approach combined with regression and classification. In the CNN model, the colour and the depth modal data are deeply fused together to achieve accurate feature expression. Additionally, Welsch function is introduced into the approach to enhance robustness of the training process. Experiment results demonstrates the superiority of the proposed method. © The Authors, published by EDP Sciences, 2017.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21453
Collection其他
Corresponding AuthorZhang Q(张强)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, No.114 Nanta Street, Shenhe District, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, 100049, China
3.SIASUN Robot and Automation Co. LTD., NO.16 Jinhui Street, Hunnan District, Shenyang, 110168, China
Recommended Citation
GB/T 7714
Zhang Q,Qu DK,Xu F,et al. Robust robot grasp detection in multimodal fusion[C]. Les Ulis Cedex A, France:EDP Sciences,2017:1-5.
Files in This Item: Download All
File Name/Size DocType Version Access License
Robust robot grasp d(424KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang Q(张强)]'s Articles
[Qu DK(曲道奎)]'s Articles
[Xu F(徐方)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang Q(张强)]'s Articles
[Qu DK(曲道奎)]'s Articles
[Xu F(徐方)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang Q(张强)]'s Articles
[Qu DK(曲道奎)]'s Articles
[Xu F(徐方)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Robust robot grasp detection in multimodal fusion.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.