Improve of Mask R-CNN in Edge Segmentation
Nowadays, grasping robot plays an important role in many automatic systems in the industrial environment. An excellent grasping robot can detect, localize, and pick objects accurately but to perfectly achieve these tasks, it is still a challenge in the computer vision field. Especially, segmentation task, which is understood as both detection and localization, is the hardest problem. To deal with this problem, the state-of-the-art Mask Region Convolution Neural Network (Mask R-CNN) was introduced and obtained an exceptional result. But this superb model does not certainly perform well when working with harsh locations of objects. The edge and border regions are usually misunderstood as the background, this leads to the failure in localizing objects to submit a good grasping plan. Thus, in this paper, we introduce a novel method that combines the original Mask R-CNN pipeline and 3D algorithms branch to preserve and classify the edge region. This results from the improvement of the performance of Mask R-CNN in detailed segmentation. Concretely, the significant improvement practiced in harsh situations of object location was obviously discussed in the experimental result section. Both IoU and mAP indicators are increased. Specifically, mAP, which directly reflects the semantic segmentation ability of a model, raised from 0.39 to 0.46. This approach opens a better way to determine the object location and grasping plan.