YOLO-based robotic grasping

Abstract

Waste is causing a lot of problems around the world and there is a problem of poor recycling. To separate garbage collection, various wastes shall be detected and recognized, which shall be carried out in real time. To address these issues, this paper proposes YOLO-based robotic grasping methods. The limitations of existing deep learning-based robotic grasping methods predict grasping points in all images and do not recognize objects. Considering this, we perform object detection and capture point derivation by processing images with the proposed area restriction method after detection and recognition based on YOLO, an one-stage object detection.