OranHe/Rgbd-GG-CNN

Rgbd Generative Grasping CNN (Rgbd-GG-CNN)

Rgbd-GG-CNN

A simple Rgbd Generative Grasping CNN (Rgbd-GG-CNN)

Here is the original paper:

• Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach
• Github

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Network Architecture V1

Network Architecture V2

improve：Use MobileNetV3 to extract Features MobileNetV3(downsample 16 times),4 conv transpose layers(Upsample 16 times).

Network Architecture V3

improve：Add a fusion layer after feature extraction

Train

train.py --dataset-path <Path>

Test

test.py --network epoch_04_iou_0.90 --dataset Oran --dataset-path <Path> --vis

Test result

Dataset Example

Download Link

Demo Video

Project1 Project2