Related papers: ZePHyR: Zero-shot Pose Hypothesis Rating

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

Object pose estimation constitutes a critical area within the domain of 3D vision. While contemporary state-of-the-art methods that leverage real-world pose annotations have demonstrated commendable performance, the procurement of such real…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

Estimating the 6D pose of novel objects is a fundamental yet challenging problem in robotics, often relying on access to object CAD models. However, acquiring such models can be costly and impractical. Recent approaches aim to bypass this…

Pose estimation is an important technique for nonverbal human-robot interaction. That said, the presence of a camera in a person's space raises privacy concerns and could lead to distrust of the robot. In this paper, we propose a…

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…

This work focuses on model-free zero-shot 6D object pose estimation for robotics applications. While existing methods can estimate the precise 6D pose of objects, they heavily rely on curated CAD models or reference images, the preparation…

Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…

Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

Robotic insertion is a highly challenging task that requires exceptional precision in cluttered environments. Existing methods often have poor generalization capabilities. They typically function in restricted and structured environments,…

This paper presents a simple yet effective method for improving the performance of zero-shot learning (ZSL). ZSL classifies instances of unseen classes, from which no training data is available, by utilizing the attributes of the classes.…

In this paper, we explore whether a robot can learn to hang arbitrary objects onto a diverse set of supporting items such as racks or hooks. Endowing robots with such an ability has applications in many domains such as domestic services,…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…