相关论文: Physics-based Scene-level Reasoning for Object Pos…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost,…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

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…

Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perform poorly in cluttered dynamic environments. Imbuing the…

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…