相关论文: Active 6D Multi-Object Pose Estimation in Cluttere…

This paper introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their…

We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches learn end-to-end policies with features from vision foundation…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Robot warehouse automation has attracted significant interest in recent years, perhaps most visibly in the Amazon Picking Challenge (APC). A fully autonomous warehouse pick-and-place system requires robust vision that reliably recognizes…

Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints,…

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving,…

We consider artificial agents that learn to jointly control their gripperand camera in order to reinforcement learn manipulation policies in the presenceof occlusions from distractor objects. Distractors often occlude the object of…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

This work aims to estimate 6Dof (6D) object pose in background clutter. Considering the strong occlusion and background noise, we propose to utilize the spatial structure for better tackling this challenging task. Observing that the 3D mesh…

Accurate 6D object pose estimation is a fundamental capability for embodied agents, yet remains highly challenging in open-world environments. Many existing methods often rely on closed-set assumptions or geometry-agnostic regression…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Object localization has been a crucial task in computer vision field. Methods of localizing objects in an image have been proposed based on the features of the attended pixels. Recently researchers have proposed methods to formulate object…

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…

We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…