Robotic Autonomous Grasping Technique: A Survey | |
Wang LL(王丽丽) | |
2021-10 | |
会议日期 | 2021-10-29 |
会议地点 | 中国海口 |
DOI | 10.1109/ACAIT53529.2021.9731320 |
英文摘要 | This paper provides a comprehensive survey of robotic autonomous grasping techniques. We summarize three key tasks: grasp detection, affordance detection, and model migration. Grasp detection determines the graspable area and grasping posture of the manipulator, so that the robot can successfully perform the grasps. The grasp detection methods based on deep learning are divided into 3DoF grasp and 6DoF grasp. The object affordances based grasping methods can further improve the robot's understanding of objects and environment, thereby improving the robot's intelligence and autonomy. Methods for object affordances detection are classified as learning-based, knowledge-based, and simulation-based. Model migration means that when the grasping model is migrated to other scenes where lightness and background changes, only little or no label data is required, so that the grasping model can be used in the target scene quickly and efficiently. This paper focuses on domain adaptation (DA) methods in model migration. |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/51866] |
专题 | 多模态人工智能系统全国重点实验室 |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学人工智能学院 |
推荐引用方式 GB/T 7714 | Wang LL. Robotic Autonomous Grasping Technique: A Survey[C]. 见:. 中国海口. 2021-10-29. |
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