Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention
Ren, Guangli2,3; Geng, Wenjie2,3; Guan, Peiyu2,3; Cao, Zhiqiang2,3; Yu, Junzhi1
刊名IEEE Transactions on Circuits and Systems for Video Technology
2023
卷号33期号:8页码:4002-4010
英文摘要

  The grasp detection is crucial to high-quality robotic grasping. Typically, the mainstream encoder-decoder regression solution is attractive due to its high accuracy and efficiency, however, it is still challenging to solve the checkerboard artifacts from the uneven overlap of convolution results in decoder, and features from the encoder also need to be further refined. In this paper, a novel pixel-wise grasp detection network is proposed, which is composed of an encoder, a multi-dimensional attention bottleneck, and a decoder based on twin deconvolution. The proposed decoder introduces a twin branch upon the original transposed convolution branch. Through the overlap degree matrix provided by the twin branch, the original branch is re-weighted and then the checkerboard artifacts of the original branch are eliminated. Besides, to deeply explore the intrinsic relationship of features and strengthen feature discrimination, residual multi-head self-attention, cross-amplitude attention, and channel attention are integrated together. As a result, adaptive feature refinement is achieved. The effectiveness of the proposed method is verified by experiments.

语种英语
内容类型期刊论文
源URL[http://ir.ia.ac.cn/handle/173211/56561]  
专题多模态人工智能系统全国重点实验室
通讯作者Cao, Zhiqiang
作者单位1.The Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University
2.The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences
3.The School of Artificial Intelligence, University of Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Ren, Guangli,Geng, Wenjie,Guan, Peiyu,et al. Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention[J]. IEEE Transactions on Circuits and Systems for Video Technology,2023,33(8):4002-4010.
APA Ren, Guangli,Geng, Wenjie,Guan, Peiyu,Cao, Zhiqiang,&Yu, Junzhi.(2023).Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention.IEEE Transactions on Circuits and Systems for Video Technology,33(8),4002-4010.
MLA Ren, Guangli,et al."Pixel-Wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention".IEEE Transactions on Circuits and Systems for Video Technology 33.8(2023):4002-4010.
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