Related papers: Convolutional Occupancy Models for Dense Packing o…

While previous studies have demonstrated successful 3D object shape completion with a sufficient number of points, they often fail in scenarios when a few points, e.g. tens of points, are observed. Surprisingly, via entropy analysis, we…

Optimal packing of objects in containers is a critical problem in various real-life and industrial applications. This paper investigates the two-dimensional packing of convex polygons without rotations, where only translations are allowed.…

Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we propose Point Completion Network (PCN), a novel…

This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…

The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…

In this paper, we introduce a novel learning-based approach for grasping known rigid objects in highly cluttered scenes and precisely placing them based on depth images. Our Placement Quality Network (PQ-Net) estimates the object pose and…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…

Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…

Within a logistics supply chain, a large variety of transported goods need to be handled, recognized and checked at many different network points. Often, huge manual effort is involved in recognizing or verifying packet identity or…

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…

Recently, promising applications in robotics and augmented reality have attracted considerable attention to 3D object detection from point clouds. In this paper, we present FCAF3D - a first-in-class fully convolutional anchor-free indoor 3D…

3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To…

Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…

Collage and packing techniques are widely used to organize geometric shapes into cohesive visual representations, facilitating the representation of visual features holistically, as seen in image collages and word clouds. Traditional…

We propose a novel approach aimed at object and semantic scene completion from a partial scan represented as a 3D point cloud. Our architecture relies on three novel layers that are used successively within an encoder-decoder structure and…

In this work we use deep learning to establish dense correspondences between a 3D object model and an image "in the wild". We introduce "DenseReg", a fully-convolutional neural network (F-CNN) that densely regresses at every foreground…

In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…

Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…