信息与控制2025，Vol.54Issue(4)：583-594,12.DOI:10.13976/j.cnki.xk.2024.1971
基于单视图6维位姿估计的机器人抓取
Robotic Grasping Based on 6D Pose Estimation from Single View
摘要
Abstract
In real-world scenarios,the diversity of object types and random placement can lead to diffi-culties in object recognition for intelligent robots,resulting in a low success rate in grasping.A method for robot grasping in complex situations such as occlusion,multiple targets of the same type,and stacking is proposed to address this issue.A single view 6D pose estimation network with encoder decoder structure is designed based on channel attention mechanism ECA and residu-al network ResNet;A 6D pose estimation and grasping training dataset is generated using a syn-thetic dataset production method;The robot grasping control module controls the UR5 robot to a-chieve intelligent grasping based on the output of the 6D pose estimation network and the results of hand eye calibration.The experimental results on Linemod,YCB-Video,and the synthesized data-set show that the average grasping success rate of our method reaches 95％.关键词
机器人抓取/卷积神经网络/6维位姿估计/单视图Key words
robotic grasping/convolutional neural network/6D pose estimation/single view分类
交通工程引用本文复制引用
白素琴,顾健,吕宗磊,史金龙,於跃成,钱强..基于单视图6维位姿估计的机器人抓取[J].信息与控制,2025,54(4):583-594,12.基金项目
国家自然科学基金项目(51875270) （51875270）
中国民航大学民航智慧机场理论与系统重点实验室开放基金项目(SATS202207) （SATS202207）
