Related papers: OMAD: Object Model with Articulated Deformations f…

Precise perception of articulated objects is vital for empowering service robots. Recent studies mainly focus on point cloud, a single-modal approach, often neglecting vital texture and lighting details and assuming ideal conditions like…

We introduce SAOR, a novel approach for estimating the 3D shape, texture, and viewpoint of an articulated object from a single image captured in the wild. Unlike prior approaches that rely on pre-defined category-specific 3D templates or…

In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…

Human cognition can leverage fundamental conceptual knowledge, like geometric and kinematic ones, to appropriately perceive, comprehend and interact with novel objects. Motivated by this finding, we aim to endow machine intelligence with an…

We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…

Existing object pose estimation datasets are related to generic object types and there is so far no dataset for fine-grained object categories. In this work, we introduce a new large dataset to benchmark pose estimation for fine-grained…

We propose a novel unsupervised method to learn the pose and part-segmentation of articulated objects with rigid parts. Given two observations of an object in different articulation states, our method learns the geometry and appearance of…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…

Category-level 6D object pose and size estimation is to predict full pose configurations of rotation, translation, and size for object instances observed in single, arbitrary views of cluttered scenes. In this paper, we propose a new method…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

This paper proposes a universal framework, called OVE6D, for model-based 6D object pose estimation from a single depth image and a target object mask. Our model is trained using purely synthetic data rendered from ShapeNet, and, unlike most…

Articulated 3D objects play a vital role in realistic simulation and embodied robotics, yet manually constructing such assets remains costly and difficult to scale. In this paper, we present UniArt, a diffusion-based framework that directly…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

Deep implicit functions (DIFs) have emerged as a potent and articulate means of representing 3D shapes. However, methods modeling object categories or non-rigid entities have mainly focused on single-object scenarios. In this work, we…

While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…

Object Detection (OD) is an important computer vision problem for industry, which can be used for quality control in the production lines, among other applications. Recently, Deep Learning (DL) methods have enabled practitioners to train OD…

Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…