Monozone-Centric Instance Grasping Policy in Large-Scale Dense Clutter

摘要

Despite the impressive performance of existing vision-guided robot grasping methods in dense clutter, their reliance on a fixed view often results in incomplete object geometry in the view boundary and limits grasping in more challenging large-scale dense clutter. Moreover, analyzing all objects during grasping can detract from the reasoning for specific objects. This work proposes the Monozone-centric Instance Grasping Policy (MCIGP) to solve these problems. Specifically, the first part is the monozone view alignment, wherein we design the dynamic monozone that can align the camera view according to different objects during grasping, thereby alleviating view boundary effects and realizing grasping in large-scale dense clutter scenarios. Then, we devise the instance-specific grasp detection to predict and optimize grasp candidates for one specific object within the monozone, ensuring an in-depth analysis of this object. We performed over 8000 real-world grasping experiments in different cluttered scenarios with 300 novel objects, demonstrating that MCIGP significantly outperforms seven competitive grasping methods. Notably, in a large-scale densely cluttered scene involving 100 different household goods, MCIGP pushed the grasp success rate to 84.9% . To the best of our knowledge, no previous work has demonstrated similar performance.