Balanced Grasp Pose Detection for Multi-scale Objects with Point Cloud

Haiyuan Gui, Shanchen Pang*, Xiao He, Xue Zhai, Nuanlai Wang, Wenjing Yin, Sibo Qiao, Kuijie Zhang

China University of Petroleum (East China), Qingdao 266580, China

Code

We propose the GraspBalance algorithm to achieve balanced grasp pose detection of multi-scale objects

Multi-scale Objects 7-DoF Grasp Pose Balanced Detection Algorithm

Grasp Pose Detection Model

Real Robot Grasp Experiments

Experimental Setup For Visual Servoing Franka Robot Grasping

To evaluate the effectiveness of our GraspBalance algorithm for detecting grasp poses across a range of object sizes in real-world environments, we established a grasping experiment setup. This setup involved a Franka Emika 7-axis robot and an Intel RealSense D435i stereo depth camera, as illustrated in the accompanying figure. Our GraspBalance network model, trained on a PC equipped with an Nvidia RTX 3090 and an Intel(R) i7-10700 CPU @ 2.90GHz, was used for inference testing. To ensure the robustness of our algorithm, all objects used in these experiments were novel to the GraspBalance model, meaning they were not part of its training dataset. Figure (a) depicts the physical setup of our real-world robot experiments, featuring the objects positioned on the platform. Additionally, Figure (b) showcases various experimental scenarios we designed, including cluttered scenes containing objects of varying sizes, from small to large scales.
Grasp Pose Detection Model

Franka Robot Grasping For Isolated Scenes

We randomly selected one object from each of the three scales (small, medium, and large) of object collections for visualization of robot grasping.

Franka Robot Grasping For Cluttered Scene (Small)

Franka grasping in cluttered scenes consisting exclusively of small-scale objects. We randomly selected several small-scale objects placed within the robot's grasping range and visualized the grasping process.

Franka Robot Grasping For Cluttered Scene (Medium)

Franka grasping in cluttered scenes consisting exclusively of medium-scale objects. We randomly selected several small-scale objects placed within the robot's grasping range and visualized the grasping process.

Franka Robot Grasping For Cluttered Scene (Large)

Franka grasping in cluttered scenes consisting exclusively of large-scale objects. We randomly selected several small-scale objects placed within the robot's grasping range and visualized the grasping process.

Franka Grasping For Cluttered Scene (Mixed)

Real robot grasping in cluttered scenes involving objects of all scales. We randomly selected several small-scale objects placed within the robot's grasping range and visualized the grasping process.