相关论文: Deep Object Pose Estimation for Semantic Robotic G…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

Object detection is the key technique to a number of Computer Vision applications, but it often requires large amounts of annotated data to achieve decent results. Moreover, for pedestrian detection specifically, the collected data might…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

Convolutional Neural Networks (CNNs) trained on large scale RGB databases have become the secret sauce in the majority of recent approaches for object categorization from RGB-D data. Thanks to colorization techniques, these methods exploit…

We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…

Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is challenging due to the complex object shape, incomplete object…

Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets…

For 6-DoF grasp detection, simulated data is expandable to train more powerful model, but it faces the challenge of the large gap between simulation and real world. Previous works bridge this gap with a sim-to-real way. However, this way…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

In the field of deep learning applied to face recognition, securing large-scale, high-quality datasets is vital for attaining precise and reliable results. However, amassing significant volumes of high-quality real data faces hurdles such…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

In the process of intelligently segmenting foods in images using deep neural networks for diet management, data collection and labeling for network training are very important but labor-intensive tasks. In order to solve the difficulties of…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Human action recognition is a challenging problem, particularly when there is high variability in factors such as subject appearance, backgrounds and viewpoint. While deep neural networks (DNNs) have been shown to perform well on action…

Generative Adversarial Networks (GANs) have been used widely to generate large volumes of synthetic data. This data is being utilized for augmenting with real examples in order to train deep Convolutional Neural Networks (CNNs). Studies…

Recently, synthetic data generation and realistic rendering has advanced tasks like target tracking and human pose estimation. Simulations for most robotics applications are obtained in (semi)static environments, with specific sensors and…

We present an overview and evaluation of a new, systematic approach for generation of highly realistic, annotated synthetic data for training of deep neural networks in computer vision tasks. The main contribution is a procedural world…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…