This is the source code for paper 'TVGD: TACTILE-VISUAL FUSION BASED ROBOTIC GRASP DETECTION METHOD WITH REPRODUCIBLE SENSOR'.

we provide dataset pre-processing and training script in this repository.

Python 2.7.14

TensorFlow 1.12

opencv-python

1、generate training file from raw dataset using generate_dataset_rgbd-F_TVFD.py. And the raw dataset can be obtained from project site

2、train_RGBD-F_TVGD.py is the training script.

3、We also provide the pre-trained model from https://drive.google.com/drive/folders/1QJ243dL12L6UBMJrW44tNgbGKkeQ5ZgE?usp=sharing