Related papers: Only Pick Once -- Multi-Object Picking Algorithms …
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Order picking is the problem of collecting a set of products in a warehouse in a minimum amount of time. It is currently a major bottleneck in supply-chain because of its cost in time and labor force. This article presents two exact and…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
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…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
The complexity-precision trade-off of an object detector is a critical problem for resource constrained vision tasks. Previous works have emphasized detectors implemented with efficient backbones. The impact on this trade-off of proposal…
Today, one's disposes of large datasets composed of thousands of geographic objects. However, for many processes, which require the appraisal of an expert or much computational time, only a small part of these objects can be taken into…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
Robotic bin packing aids in a wide range of real-world scenarios such as e-commerce and warehouses. Yet, existing works focus mainly on considering the shape of objects to optimize packing compactness and neglect object properties such as…
In this paper we present a new object counting method that is intended for counting similarly sized and mostly round objects. Unlike many other algorithms of the same purpose, the proposed method does not rely on identifying every object,…
Learning object affordances is an effective tool in the field of robot learning. While the data-driven models investigate affordances of single or paired objects, there is a gap in the exploration of affordances of compound objects composed…
In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…
Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…
Object detection is an important research area in the field of computer vision. Many detection algorithms have been proposed. However, each object detector relies on specific assumptions of the object appearance and imaging conditions. As a…
With this work we are explaining the "You Only Look Once" (YOLO) single-stage object detection approach as a parallel classification of 10647 fixed region proposals. We support this view by showing that each of YOLOs output pixel is…
Occlusions pose a significant challenge to optical flow algorithms that even rely on global evidences. We consider an occluded point to be one that is imaged in the reference frame but not in the next. Estimating the motion of these points…
This paper proposes 12 multi-object grasps (MOGs) types from a human and robot grasping data set. The grasp types are then analyzed and organized into a MOG taxonomy. This paper first presents three MOG data collection setups: a human…
Image composition aims to generate realistic composite image by inserting an object from one image into another background image, where the placement (e.g., location, size, occlusion) of inserted object may be unreasonable, which would…
We propose a simple yet effective proposal-based object detector, aiming at detecting highly-overlapped instances in crowded scenes. The key of our approach is to let each proposal predict a set of correlated instances rather than a single…