基于Pytorch对运行环境搭建，选用VMRD数据集作为实验数据集，实现视觉操作关系推理，并可以获取场景下的操作关系树，ROI检测提取结构：使用Cascade R-CNN级联网络实现物体的目标检测，特征提取后通过抓取提议网络得到潜在ROIs，再进入级联网络中完成目标检测。抓取检测结构FCN：使用旋转矩形锚框预测物体的可行抓取框。将训练完成的模型算法移植到Kinova机械臂上，让机械臂完成对多个物体的抓取。
☆11Jul 12, 2022Updated 3 years ago
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