Method for detecting grasping position of robot in grasping object
US11878433B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 25, 2020 |
| Grant date | Jan 23, 2024 |
| Priority date | — |
| Expiry date | Nov 18, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20084
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for detecting a grasping position of a robot in grasping a target object includes: collecting a target RGB image and a target Depth image of the target object at different view angles; inputting each of the target RGB image to a target object segmentation network for calculation to obtain an RGB pixel region of the target object in the target RGB image and a Depth pixel region of the target object; inputting the RGB pixel region to an optimal grasping position generation network to obtain an optimal grasping position for grasping the target object; inputting the Depth pixel region of the target object and the optimal grasping position to a grasping position quality evaluation network to calculate a score of the optimal grasping position; and selecting an optimal grasping position corresponding to a highest score as a global optimal grasping position of the robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.