Table 4.

Performance of grasping point prediction with CNN.

	Object 1	Object 2	Object 3	Object 4	Object 5
Error	2.201	2.891	1.885	2.405	2.074
Speed (fps)	43.67	40.55	50.20	41.86	47.04
Success rate (%)	90.0	80.0	95.0	85.0	90.0