Comparison of grasping efficiency for the point cloud-based and GG-CNN methods
| PCL | GG-CNN | |||||
|---|---|---|---|---|---|---|
| Object name | Successful attempts | Total attempts | Efficiency [%] | Successful attempts | Total attempts | Efficiency [%] |
| Sponge | 17 | 20 | 85 | 16 | 20 | 80 |
| Dispenser bottle | 13 | 15 | 86.7 | 6 | 15 | 40 |
| Sumo | 14 | 20 | 70 | 16 | 20 | 80 |
| Tape | 15 | 20 | 75 | 18 | 20 | 90 |
| Ring (vertical) | 16 | 20 | 80 | 14 | 20 | 70 |
| Ring (horizontal) | 1 | 20 | 5 | 8 | 20 | 40 |
| I-shape part | 12 | 20 | 60 | 15 | 20 | 75 |
| Plastic shaft | 2 | 20 | 10 | 8 | 20 | 40 |
| ALL | 90 | 155 | 58.1 | 101 | 155 | 65.2 |
| PCL | GG-CNN | |||||
|---|---|---|---|---|---|---|
| Successful | Total | Efficiency [%] | Successful | Total | Efficiency [%] | |
| 17 | 20 | 85 | 16 | 20 | 80 | |
| 13 | 15 | 86.7 | 6 | 15 | 40 | |
| 14 | 20 | 70 | 16 | 20 | 80 | |
| 15 | 20 | 75 | 18 | 20 | 90 | |
| 16 | 20 | 80 | 14 | 20 | 70 | |
| 1 | 20 | 5 | 8 | 20 | 40 | |
| 12 | 20 | 60 | 15 | 20 | 75 | |
| 2 | 20 | 10 | 8 | 20 | 40 | |
| 90 | 155 | 101 | 155 | |||