Vision-Based Intelligent Perceiving and Planning System of a 7-DoF Collaborative Robot

Table 2

Performance of grasping gesture prediction with CNN.

	Object 1	Object 2	Object 3	Object 4	Object 5
Speed (fps)	20.15	18.33	26.22	18.45	25.12
Success rate (%)	91.5	88.4	93.1	89.0	92.7