ハンドアイRGBカメラを有するマニピュレータのための透明な小袋の認識

抄録

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.