OptiGrasp: Optimized Grasp Pose Detection Using RGB Images for Warehouse Picking Robots
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866913522539036672 |
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| author | Atar, Soofiyan Li, Yi Grotz, Markus Wolf, Michael Fox, Dieter Smith, Joshua |
| author_facet | Atar, Soofiyan Li, Yi Grotz, Markus Wolf, Michael Fox, Dieter Smith, Joshua |
| contents | In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to new products, and resilience in diverse settings. Current methods often rely on depth sensors for structural information, which suffer from high costs, complex setups, and technical limitations. Inspired by recent advancements in computer vision, we propose an innovative approach that leverages foundation models to enhance suction grasping using only RGB images. Trained solely on a synthetic dataset, our method generalizes its grasp prediction capabilities to real-world robots and a diverse range of novel objects not included in the training set. Our network achieves an 82.3\% success rate in real-world applications. The project website with code and data will be available at http://optigrasp.github.io. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_19494 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | OptiGrasp: Optimized Grasp Pose Detection Using RGB Images for Warehouse Picking Robots Atar, Soofiyan Li, Yi Grotz, Markus Wolf, Michael Fox, Dieter Smith, Joshua Robotics Computer Vision and Pattern Recognition In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to new products, and resilience in diverse settings. Current methods often rely on depth sensors for structural information, which suffer from high costs, complex setups, and technical limitations. Inspired by recent advancements in computer vision, we propose an innovative approach that leverages foundation models to enhance suction grasping using only RGB images. Trained solely on a synthetic dataset, our method generalizes its grasp prediction capabilities to real-world robots and a diverse range of novel objects not included in the training set. Our network achieves an 82.3\% success rate in real-world applications. The project website with code and data will be available at http://optigrasp.github.io. |
| title | OptiGrasp: Optimized Grasp Pose Detection Using RGB Images for Warehouse Picking Robots |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2409.19494 |