PEGG-Net: Pixel-Wise Efficient Grasp Generation in Complex Scenes
This addresses the challenge of reliable robotic grasping in real-world complex scenes, which is incremental as it builds on existing planar grasp estimation methods.
The paper tackles the problem of inaccurate and unstable grasp estimation in complex scenes like cluttered or dynamic environments, achieving state-of-the-art performance with 98.9% on the Cornell dataset and 93.8% on the Jacquard dataset.
Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex scenes, such as cluttered scenes with messy backgrounds and moving objects, the algorithms from previous works are prone to generate inaccurate and unstable grasping contact points. In this work, we first study the existing planar grasp estimation algorithms and analyze the related challenges in complex scenes. Secondly, we design a Pixel-wise Efficient Grasp Generation Network (PEGG-Net) to tackle the problem of grasping in complex scenes. PEGG-Net can achieve improved state-of-the-art performance on the Cornell dataset (98.9%) and second-best performance on the Jacquard dataset (93.8%), outperforming other existing algorithms without the introduction of complex structures. Thirdly, PEGG-Net could operate in a closed-loop manner for added robustness in dynamic environments using position-based visual servoing (PBVS). Finally, we conduct real-world experiments on static, dynamic, and cluttered objects in different complex scenes. The results show that our proposed network achieves a high success rate in grasping irregular objects, household objects, and workshop tools. To benefit the community, our trained model and supplementary materials are available at https://github.com/HZWang96/PEGG-Net.