A fast search algorithm based on image pyramid for robotic grasping

Guangli Ren; Zhenzhou Shao; Yong Guan; Ying Qu; Jindong Tan; Hongxing Wei; Guofeng Tong

doi:10.1109/IROS.2017.8206561

A fast search algorithm based on image pyramid for robotic grasping

Guangli Ren
, Zhenzhou Shao^*
, Yong Guan
, Ying Qu
, Jindong Tan
, Hongxing Wei
, Guofeng Tong

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Capital Normal University
University of Tennessee
Northeastern University China

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

To improve the search efficiency of robotic grasping detection, this paper presents a novel search algorithm based on the image pyramid. It significantly reduces the search space for grasping position detection using the coarse-to-fine strategy. The proposed method searches the positions from the top layer of the pyramid, and initializes the search area at the next layer. The sparse automatic encoder is employed to construct the model which is used to evaluate the grasp quality. The experimental results demonstrate that the proposed search algorithm can improve efficiency of the robotic grasping detection with the comparative performance on the grasp quality.

Original language	English
Title of host publication	IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6520-6525
Number of pages	6
ISBN (Electronic)	9781538626825
DOIs	https://doi.org/10.1109/IROS.2017.8206561
State	Published - 13 Dec 2017
Event	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: 24 Sep 2017 → 28 Sep 2017

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2017-September
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/Territory	Canada
City	Vancouver
Period	24/09/17 → 28/09/17

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10.1109/IROS.2017.8206561

Cite this

Ren, G., Shao, Z., Guan, Y., Qu, Y., Tan, J., Wei, H., & Tong, G. (2017). A fast search algorithm based on image pyramid for robotic grasping. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 6520-6525). Article 8206561 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206561

@inproceedings{aaac925828fe49ea9ee56fde07245a47,

title = "A fast search algorithm based on image pyramid for robotic grasping",

abstract = "To improve the search efficiency of robotic grasping detection, this paper presents a novel search algorithm based on the image pyramid. It significantly reduces the search space for grasping position detection using the coarse-to-fine strategy. The proposed method searches the positions from the top layer of the pyramid, and initializes the search area at the next layer. The sparse automatic encoder is employed to construct the model which is used to evaluate the grasp quality. The experimental results demonstrate that the proposed search algorithm can improve efficiency of the robotic grasping detection with the comparative performance on the grasp quality.",

author = "Guangli Ren and Zhenzhou Shao and Yong Guan and Ying Qu and Jindong Tan and Hongxing Wei and Guofeng Tong",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 ; Conference date: 24-09-2017 Through 28-09-2017",

year = "2017",

month = dec,

day = "13",

doi = "10.1109/IROS.2017.8206561",

language = "英语",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "6520--6525",

booktitle = "IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems",

address = "美国",

}

Ren, G, Shao, Z, Guan, Y, Qu, Y, Tan, J, Wei, H & Tong, G 2017, A fast search algorithm based on image pyramid for robotic grasping. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems., 8206561, IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, Institute of Electrical and Electronics Engineers Inc., pp. 6520-6525, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24/09/17. https://doi.org/10.1109/IROS.2017.8206561

A fast search algorithm based on image pyramid for robotic grasping. / Ren, Guangli; Shao, Zhenzhou; Guan, Yong et al.
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 6520-6525 8206561 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A fast search algorithm based on image pyramid for robotic grasping

AU - Ren, Guangli

AU - Shao, Zhenzhou

AU - Guan, Yong

AU - Qu, Ying

AU - Tan, Jindong

AU - Wei, Hongxing

AU - Tong, Guofeng

PY - 2017/12/13

Y1 - 2017/12/13

N2 - To improve the search efficiency of robotic grasping detection, this paper presents a novel search algorithm based on the image pyramid. It significantly reduces the search space for grasping position detection using the coarse-to-fine strategy. The proposed method searches the positions from the top layer of the pyramid, and initializes the search area at the next layer. The sparse automatic encoder is employed to construct the model which is used to evaluate the grasp quality. The experimental results demonstrate that the proposed search algorithm can improve efficiency of the robotic grasping detection with the comparative performance on the grasp quality.

AB - To improve the search efficiency of robotic grasping detection, this paper presents a novel search algorithm based on the image pyramid. It significantly reduces the search space for grasping position detection using the coarse-to-fine strategy. The proposed method searches the positions from the top layer of the pyramid, and initializes the search area at the next layer. The sparse automatic encoder is employed to construct the model which is used to evaluate the grasp quality. The experimental results demonstrate that the proposed search algorithm can improve efficiency of the robotic grasping detection with the comparative performance on the grasp quality.

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U2 - 10.1109/IROS.2017.8206561

DO - 10.1109/IROS.2017.8206561

M3 - 会议稿件

AN - SCOPUS:85041965000

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 6520

EP - 6525

BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017

Y2 - 24 September 2017 through 28 September 2017

ER -

Ren G, Shao Z, Guan Y, Qu Y, Tan J, Wei H et al. A fast search algorithm based on image pyramid for robotic grasping. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2017. p. 6520-6525. 8206561. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2017.8206561

A fast search algorithm based on image pyramid for robotic grasping

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