VERGNet: Visual enhancement guided robotic grasp detection under low-light condition

Niu, Mingdi; Lu, Zhenyu; Chen, Lu; Yang, Jing; Yang, Chenguang

Abstract

Although existing grasp detection methods have achieved encouraging performance under well-light conditions, repetitive experiments have found that the detection performance would deteriorate drastically under low-light conditions. Although supplementary information can be provided by additional sensors, such as depth camera, the sparse and weak visual features still hinder the improvement of detection accuracy. In order to address these, we propose a visual enhancement guided grasp detection model (VERGNet) to improve the robustness of robotic grasping in low-light conditions. Firstly, a simultaneous grasp detection and low-light feature enhancement framework is designed, which integrates residual blocks with coordinate attention to re-optimize grasping features. Then, the unsupervised low-light feature enhancement strategy is adopted to reduce the dependence on paired data as well as improve the algorithmic robustness to low-light conditions. Extensive experiments are finally conducted on two newly-constructed low-light grasp datasets and the proposed method achieves 98.9% and 91.2% detection accuracy respectively, which are superior to comparative methods. Besides, the effectiveness in our method has also been validated in real-world low-light imaging scenarios.

• Journal Article Type: Article
• Acceptance Date: Nov 1, 2023
• Online Publication Date: Nov 6, 2023
• Publication Date: Dec 31, 2023
• Deposit Date: Jan 20, 2024
• Publicly Available Date: Jan 24, 2024
• Journal: IEEE Robotics and Automation Letters
• Print ISSN: 2377-3766
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 8
• Issue: 12
• Pages: 8541-8548
• DOI: https://doi.org/10.1109/lra.2023.3330664
• Keywords: Artificial Intelligence, Control and Optimization, Computer Science Applications, Computer Vision and Pattern Recognition, Mechanical Engineering, Human-Computer Interaction, Biomedical Engineering, Control and Systems Engineering
• Public URL: https://uwe-repository.worktribe.com/output/11462569