Autonomous Robotic Manipulation: Real-Time, Deep-Learning Approach for Grasping of Unknown Objects

Table 1

What our work has to offer. A comparison between our approach and the related work in the field.

Feature	[46]	[11]	[30]	[31]	[47]	Our approach
Unknown objects	No	Yes	No	Yes	Yes	Yes
Object feature matching	NA	NA	NA	No	Yes	Yes
Eye-in-hand camera and object centering	No	No	No	Yes	No	Yes
Grasp generation complexity	DL + analytical	DL	3-stage	DL	Analytical	DL
Training data availability	No	No	NA	Yes	NA	Yes
Real robot experiments	No	Yes	Yes	Yes	Yes	Yes
Multi-view grasp generation	No	No	No	No	No	Yes
Robot control	No	No	Yes	No	No	Yes
Real-time control without arm controller	No	No	No	No	No	Yes