Recognition of Clear Plastic Sachets for Manipulator with RGB Hand-Eye Camera

Abstract

We utilize a part of ClearGrasp for detection of transparent sachets. We created a dataset of transparent sachets by computer graphic. With this dataset, a trained neural network for the semantic segmentation of transparent objects is additionally trained. In the experiments with with real pictures of transparent sachets, we have verified that the nerual network enhances its recognition ability after the additional training.