Related papers: Rapid Pose Label Generation through Sparse Represe…
In this paper, we address the challenging task of estimating 6D object pose from a single RGB image. Motivated by the deep learning based object detection methods, we propose a concise and efficient network that integrate 6D object pose…
Despite strong empirical performance for image classification, deep neural networks are often regarded as ``black boxes'' and they are difficult to interpret. On the other hand, sparse convolutional models, which assume that a signal can be…
In this work, we tackle 6-DoF grasp detection for transparent and specular objects, which is an important yet challenging problem in vision-based robotic systems, due to the failure of depth cameras in sensing their geometry. We, for the…
Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…
We present a novel approach for model-based 6D pose refinement in color data. Building on the established idea of contour-based pose tracking, we teach a deep neural network to predict a translational and rotational update. At the core, we…
Semantic segmentation requires per-pixel prediction for a given image. Typically, the output resolution of a segmentation network is severely reduced due to the downsampling operations in the CNN backbone. Most previous methods employ…
The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…
We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…
Convolutional Neural Networks (CNNs) have proven to be state-of-the-art models for supervised computer vision tasks, such as image classification. However, large labeled data sets are generally needed for the training and validation of such…
Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation. In this paper, we present a modular pipeline for pose and shape estimation of objects from RGB-D images…
Acquiring labeled 6D poses from real images is an expensive and time-consuming task. Though massive amounts of synthetic RGB images are easy to obtain, the models trained on them suffer from noticeable performance degradation due to the…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…
Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…
6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…
We propose a new representation of visual data that disentangles object position from appearance. Our method, termed Deep Latent Particles (DLP), decomposes the visual input into low-dimensional latent ``particles'', where each particle is…
We present an end-to-end framework for fast retraining of object detection models in human-robot-collaboration. Our Faster R-CNN based setup covers the whole workflow of automatic image generation and labeling, model retraining on-site as…
Disparity estimation is a difficult problem in stereo vision because the correspondence technique fails in images with textureless and repetitive regions. Recent body of work using deep convolutional neural networks (CNN) overcomes this…
3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…
To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…
We introduce our method and system for face recognition using multiple pose-aware deep learning models. In our representation, a face image is processed by several pose-specific deep convolutional neural network (CNN) models to generate…