公开(公告)号：US20230186056A1

公开(公告)日：2023-06-15

申请号：US17762275

申请日：2021-06-02

Applicant: Qingdao University of Technology

Inventor： Jingbo Zhao ,  Tengfei Qiu ,  Jingxuhui Zhu ,  Xinchao Liu ,  Xiaohan Zhang ,  Wenbin Zhang

IPC: G06N3/0464 ,  G06N3/043 ,  G06N3/048 ,  G06V10/25 ,  G06V10/44 ,  G06V10/26

CPC classification number: G06N3/0464 ,  G06N3/043 ,  G06N3/048 ,  G06V10/25 ,  G06V10/454 ,  G06V10/267

Abstract: The present invention relates to a grabbing detection method based on an RP-ResNet, which method belongs to the field of computer vision, and in particular relates to recognition and positioning of a grabbing point of a mechanical arm. The method comprises: inputting a target object image; pre-processing data; performing data processing by means of an RP-ResNet model; and finally, generating a grabbing block diagram of a grabbing target. On the basis of a model ResNet 50, a region proposal network is used in the 30th layer of a network, fuzzy positioning is performed on the position of a grabbing point, feature information of high and low layers is fully fused to strengthen the utilization of information of low layers, and an SENet structure is added to the 40th layer of the network, thereby further increasing the detection accuracy of a grabbing point. By means of a grabbing detection framework based on ResNet-50, a residual network, a region proposal idea and SENet are combined, such that it is ensured that rapid target detection is realized, and the accuracy rate of target detection is further improved.