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

Table 3

Performance of grasping position prediction with CNN.

	Object 1	Object 2	Object 3	Object 4	Object 5
Error	1.754	2.175	1.540	1.995	1.701
Speed (fps)	55.31	48.09	54.85	50.79	52.70
Success rate (%)	91.4	86.8	92.5	86.6	90.0