DeepNet-Based 3D Visual Servoing Robotic Manipulation

Table 2

Average distance (mm) between the projected points and ground truth of seven different objects during different processing stages.

Target objects	S-1	S-2	S-3	S-4	S-5	S-6
Drill	51.21	22.49	9.366	6.66	3.587	1.462
Mug	91.15	18.79	11.243	3.933	1.934	0.949
Banana	92.04	26.93	17.129	7.725	4.525	1.841
Scissors	88.61	37.48	8.852	3.94	1.716	1.148
Meat can	117.7	33.56	14.298	9.722	6.084	2.61
Mustard	82.51	23.29	12.879	9.784	4.7147	1.907
Marker	94.52	37.85	22.98	13.01	5.58	1.717