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To enhance the performance of 4-DoF grasp detection, this paper improves the grasp representation and proposes a depth-guided multi-scale grasp detection framework（DGM-Grasp）for robotic manipulators. Built upon an encoder-decoder architecture, the framework integrates a multi-scale cross-spatial attention down-sampling module to better focus on grasp-relevant features. To extract semantic information at different scales, a progressive multi-scale feature fusion and decoding module is designed. In addition, a depth-guided grasp filtering module is introduced to address collision problems during the grasping process. Experimental results show that DGM-Grasp achieves accuracies of 98.6% and 95.25% on the Cornell and Jacquard single-object datasets, respectively, while reducing detection time to 21 ms. The method also performs effectively on multi-object datasets, achieving a 96% success rate in ablation and real-world grasping experiments. These results demonstrate the superior generalization ability and performance of DGM-Grasp.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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