Real-Time, Highly Accurate Robotic Grasp Detection using Fully Convolutional Neural Network with Rotation Ensemble Module

Abstract

Rotation invariance has been an important topic in computer vision tasks. Ideally, robot grasp detection should be rotation-invariant. However, rotation-invariance in robotic grasp detection has been only recently studied by using rotation anchor box that are often time-consuming and unreliable for multiple objects. In this paper, we propose a rotation ensemble module (REM) for robotic grasp detection using convolutions that rotates network weights. Our proposed REM was able to outperform current state-of-the-art methods by achieving up to 99.2% (image-wise), 98.6% (object-wise) accuracies on the Cornell dataset with real-time computation (50 frames per second). Our proposed method was also able to yield reliable grasps for multiple objects and up to 93.8% success rate for the real-time robotic grasping task with a 4-axis robot arm for small novel objects that was significantly higher than the baseline methods by 11-56%.