Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866914795385520128 |
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| author | Chen, Siang Tang, Wei Xie, Pengwei Yang, Wenming Wang, Guijin |
| author_facet | Chen, Siang Tang, Wei Xie, Pengwei Yang, Wenming Wang, Guijin |
| contents | Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the guidance information excavated from global semantics, thus limiting high-quality grasp generation and real-time performance. In this work, we show that the widely used heatmaps are underestimated in the efficiency of 6-Dof grasp generation. Therefore, we propose an effective local grasp generator combined with grasp heatmaps as guidance, which infers in a global-to-local semantic-to-point way. Specifically, Gaussian encoding and the grid-based strategy are applied to predict grasp heatmaps as guidance to aggregate local points into graspable regions and provide global semantic information. Further, a novel non-uniform anchor sampling mechanism is designed to improve grasp accuracy and diversity. Benefiting from the high-efficiency encoding in the image space and focusing on points in local graspable regions, our framework can perform high-quality grasp detection in real-time and achieve state-of-the-art results. In addition, real robot experiments demonstrate the effectiveness of our method with a success rate of 94% and a clutter completion rate of 100%. Our code is available at https://github.com/THU-VCLab/HGGD. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_18546 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes Chen, Siang Tang, Wei Xie, Pengwei Yang, Wenming Wang, Guijin Robotics Artificial Intelligence Computer Vision and Pattern Recognition Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the guidance information excavated from global semantics, thus limiting high-quality grasp generation and real-time performance. In this work, we show that the widely used heatmaps are underestimated in the efficiency of 6-Dof grasp generation. Therefore, we propose an effective local grasp generator combined with grasp heatmaps as guidance, which infers in a global-to-local semantic-to-point way. Specifically, Gaussian encoding and the grid-based strategy are applied to predict grasp heatmaps as guidance to aggregate local points into graspable regions and provide global semantic information. Further, a novel non-uniform anchor sampling mechanism is designed to improve grasp accuracy and diversity. Benefiting from the high-efficiency encoding in the image space and focusing on points in local graspable regions, our framework can perform high-quality grasp detection in real-time and achieve state-of-the-art results. In addition, real robot experiments demonstrate the effectiveness of our method with a success rate of 94% and a clutter completion rate of 100%. Our code is available at https://github.com/THU-VCLab/HGGD. |
| title | Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2403.18546 |