A Single Target Grasp Detection Network Based on Convolutional Neural Network

Grasp detection based on convolutional neural network has gained some achievements. However, overfitting of multilayer convolutional neural network still exists and leads to poor detection precision. To acquire high detection accuracy, a single target grasp detection network that generalizes the fitting of angle and position, based on the convolution neural network, is put forward here. The proposed network regards the image as input and grasping parameters including angle and position as output, with the detection manner of end-to-end. Particularly, preprocessing dataset is to achieve the full coverage to input of model and transfer learning is to avoid overfitting of network. Importantly, a series of experimental results indicate that, for single object grasping, our network has good detection results and high accuracy, which proves that the proposed network has strong generalization in direction and category.