Related papers: Deep Workpiece Region Segmentation for Bin Picking
Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…
Most of the modern instance segmentation approaches fall into two categories: region-based approaches in which object bounding boxes are detected first and later used in cropping and segmenting instances; and keypoint-based approaches in…
Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…
Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…
Bin-picking is a practical and challenging robotic manipulation task, where accurate 6D pose estimation plays a pivotal role. The workpieces in bin-picking are typically textureless and randomly stacked in a bin, which poses a significant…
Registering human meshes to 3D point clouds is essential for applications such as augmented reality and human-robot interaction but often yields imprecise results due to noise and background clutter in real-world data. We introduce a hybrid…
Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…
In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…
Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…
Identifying and interpreting fetal standard scan planes during 2D ultrasound mid-pregnancy examinations are highly complex tasks which require years of training. Apart from guiding the probe to the correct location, it can be equally…
Point cloud analysis is attracting attention from Artificial Intelligence research since it can be widely used in applications such as robotics, Augmented Reality, self-driving. However, it is always challenging due to irregularities,…
This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods…
This paper devises, implements and benchmarks a novel shape retrieval method that can accurately match individual labelled point clusters (instances) of existing industrial facilities with their respective CAD models. It employs a…
Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…
LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…
Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…
We propose a novel approach to address the problem of Simultaneous Detection and Segmentation introduced in [Hariharan et al 2014]. Using the hierarchical structures first presented in [Arbel\'aez et al 2011] we use an efficient and…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
In this paper, we present a semi supervised deep quick learning framework for instance detection and pixel-wise semantic segmentation of images in a dense clutter of items. The framework can quickly and incrementally learn novel items in an…