相关论文: Improving 6D Pose Estimation of Objects in Clutter…

Efficiently locating target objects in complex indoor environments with diverse furniture, such as shelves, tables, and beds, is a significant challenge for mobile robots. This difficulty arises from factors like localization errors,…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

We present an extension of Monte Carlo Tree Search (MCTS) that strongly increases its efficiency for trees with asymmetry and/or loops. Asymmetric termination of search trees introduces a type of uncertainty for which the standard upper…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the…

This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in…

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…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

In the field of computer vision, 6D object detection and pose estimation are critical for applications such as robotics, augmented reality, and autonomous driving. Traditional methods often struggle with achieving high accuracy in both…

In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

Taking into account future risk is essential for an autonomously operating robot to find online not only the best but also a safe action to execute. In this paper, we build upon the recently introduced formulation of probabilistic…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Monte-Carlo Tree Search (MCTS) is a class of methods for solving complex decision-making problems through the synergy of Monte-Carlo planning and Reinforcement Learning (RL). The highly combinatorial nature of the problems commonly…