2024
DOI: 10.1002/rob.22447
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Robot Grasping Detection Method Based on Keypoints

Song Yan,
Lei Zhang

Abstract: This study introduces a novel keypoint‐based grasp detection network, denoted as GKSCConv‐Net, which operates on n‐channel input images. The network architecture comprises three SCConv2D layers and three SCConvT2D layers. The SCConvT2D layers facilitate upsampling to maintain consistent dimensions between the output and input images. The resultant output consists of maps indicating left grasp points, right grasp points, and grasp center keypoints. The accuracy of predictions is enhanced through the incorporati… Show more

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