Accurate Robotic Grasp Detection with Angular Label Smoothing

Grasp detection is a visual recognition problem where the robot makes use of its sensors to detect graspable objects in its environment. Despite the steady progress in robotic grasping, it is still difficult for the existing methods to achieve both real-time and high accuracy grasping detection. In this paper, we propose a real-time robotic grasp detection method, which can accurately predict potential grasp for parallel-plate robotic gripper using RGB images. Our work employs an end-to-end convolutional neural network which consists of a feature descriptor and a grasp detector, and for the first time, we add an attention mechanism to the grasp detection task, which enables the network to focus on grasp regions rather than background. Specifically, we present an angular label smoothing strategy in our grasp detection method to enhance the fault tolerance of the network. We quantitatively and qualitatively evaluate our grasp detection method from different aspects on the public Cornell dataset and Jacquard dataset. Extensive experiments demonstrate that our grasp detection method achieves superior performance to the state-of-the-art methods. In particular, our grasp detection method ranked No.1 on both the Cornell dataset and the Jacquard dataset, giving rise to accuracy of 98.9% and 95.6% respectively at real-time calculation speed.