Medical Catheters Grasping Point Detection with Quality Control
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F21%3A39918553" target="_blank" >RIV/00216275:25530/21:39918553 - isvavai.cz</a>
Result on the web
<a href="http://2021.sococonference.eu/" target="_blank" >http://2021.sococonference.eu/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-87869-6_39" target="_blank" >10.1007/978-3-030-87869-6_39</a>
Alternative languages
Result language
angličtina
Original language name
Medical Catheters Grasping Point Detection with Quality Control
Original language description
The ability to grasp objects is one of the basic functions of modern industrial robots. The emphasis of this paper is placed on the visual perception system, and in particular, on the data processing method leading to grasp point detection. The solution involved the design of a perceptual system in which it was necessary to use a SWIR sensor that can see through plastic bags and thus provide sufficient image information for possible processing by a neural network. The grasping point detection was tested with three convolutional neural network architectures. The method was evaluated by a generalized intersection over union (gIoU). The superior architecture was Attention U-Net, where gIoU reached 0.8522 in the case of the best model.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF17_049%2F0008394" target="_blank" >EF17_049/0008394: Cooperation in Applied Research between the University of Pardubice and companies, in the Field of Positioning, Detection and Simulation Technology for Transport Systems (PosiTrans)</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
16TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING MODELS IN INDUSTRIAL AND ENVIRONMENTAL APPLICATIONS (SOCO 2021)
ISBN
978-3-030-87869-6
ISSN
2194-5357
e-ISSN
2194-5365
Number of pages
11
Pages from-to
408-418
Publisher name
SPRINGER INTERNATIONAL PUBLISHING AG
Place of publication
CHAM
Event location
Bilbao
Event date
Sep 22, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000719656700039