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We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…
Robot warehouse automation has attracted significant interest in recent years, perhaps most visibly in the Amazon Picking Challenge (APC). A fully autonomous warehouse pick-and-place system requires robust vision that reliably recognizes…
Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…
Computer vision helps machines or computer to see like humans. Computer Takes information from the images and then understands of useful information from images. Gesture recognition and movement recognition are the current area of research…
In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…
This paper presents a iterative optimization method, explicit shape regression, for face pose detection and localization. The regression function is learnt to find out the entire facial shape and minimize the alignment errors. A cascaded…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
We propose a novel scoring concept for visual place recognition based on nearest neighbor descriptor voting and demonstrate how the algorithm naturally emerges from the problem formulation. Based on the observation that the number of votes…
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
Deep learning-based detectors usually produce a redundant set of object bounding boxes including many duplicate detections of the same object. These boxes are then filtered using non-maximum suppression (NMS) in order to select exactly one…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…
We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…
We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…
We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…
In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…