Accurate Instance-Based Segmentation for Boundary Detection in Robot Grasping Application

Abstract

With the rapid development of cameras and deep learning technologies, computer vision tasks such as object detection, object segmentation and object tracking are being widely applied in many fields of life. For robot grasping tasks, object segmentation aims to classify and localize objects, which helps robots to be able to pick objects accurately. The state-of-the-art instance segmentation network framework, Mask Region-Convolution Neural Network (Mask R-CNN), does not always perform an excellent accurate segmentation at the edge or border of objects. The approach using 3D camera, however, is able to extract the entire (foreground) objects easily but can be difficult or require a large amount of computation effort to classify it. We propose a novel approach, in which we combine Mask R-CNN with 3D algorithms by adding a 3D process branch for instance segmentation. Both outcomes of two branches are contemporaneously used to classify the pixels at the edge objects by dealing with the spatial relationship between edge region and mask region. We analyze the effectiveness of the method by testing with harsh cases of object positions, for example, objects are closed, overlapped or obscured by each other to focus on edge and border segmentation. Our proposed method is about 4 to 7% higher and more stable in IoU (intersection of union). This leads to a reach of 46% of mAP (mean Average Precision), which is a higher accuracy than its counterpart. The feasibility experiment shows that our method could be a remarkable promoting for the research of the grasping robot.

Keywords

• instance segmentation
• mask R-CNN
• grasping
• robot
• 3D camera
• edge region