Jie Zhao

Xiaoman Wang, Xin Jiang, Jie Zhao et al.

In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this method can output the angle information of rotated objects and thus can guarantee that within each rotated bounding box, there is a single instance. This technology is especially useful in the case of pile of objects with different orientations. In our method, when uncategorized objects with specific geometry shapes (rectangle or cylinder) are detected, the program will conclude that some rigid objects are covered by the towels. If no covered objects are detected, the grasp planning is based on 3D point cloud obtained from the mapping between 2D object detection result and its corresponding 3D point cloud. Based on the information provided by the 3D bounding box covering the object, grasping strategy for multiple cluttered rigid objects, collision avoidance strategy are proposed. The proposed method is verified by the experiment in which rigid objects and towels are mixed together.

Shengfan Wang, Xin Jiang, Jie Zhao et al.

This paper presents a vision based robotic system to handle the picking problem involved in automatic express package dispatching. By utilizing two RealSense RGB-D cameras and one UR10 industrial robot, package dispatching task which is usually done by human can be completed automatically. In order to determine grasp point for overlapped deformable objects, we improved the sampling algorithm proposed by the group in Berkeley to directly generate grasp candidate from depth images. For the purpose of package recognition, the deep network framework YOLO is integrated. We also designed a multi-modal robot hand composed of a two-fingered gripper and a vacuum suction cup to deal with different kinds of packages. All the technologies have been integrated in a work cell which simulates the practical conditions of an express package dispatching scenario. The proposed system is verified by experiments conducted for two typical express items.

Shengfan Wang, Xin Jiang, Jie Zhao et al.

This paper presents an efficient neural network model to generate robotic grasps with high resolution images. The proposed model uses fully convolution neural network to generate robotic grasps for each pixel using 400 $\times$ 400 high resolution RGB-D images. It first down-sample the images to get features and then up-sample those features to the original size of the input as well as combines local and global features from different feature maps. Compared to other regression or classification methods for detecting robotic grasps, our method looks more like the segmentation methods which solves the problem through pixel-wise ways. We use Cornell Grasp Dataset to train and evaluate the model and get high accuracy about 94.42% for image-wise and 91.02% for object-wise and fast prediction time about 8ms. We also demonstrate that without training on the multiple objects dataset, our model can directly output robotic grasps candidates for different objects because of the pixel wise implementation.