相关论文: Generating Annotated Training Data for 6D Object P…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

Accurate 3D object detection in real-world environments requires a huge amount of annotated data with high quality. Acquiring such data is tedious and expensive, and often needs repeated effort when a new sensor is adopted or when the…

Training neural networks to perform 3D object detection for autonomous driving requires a large amount of diverse annotated data. However, obtaining training data with sufficient quality and quantity is expensive and sometimes impossible…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Deep learning algorithms are often said to be data hungry. The performance of such algorithms generally improve as more and more annotated data is fed into the model. While collecting unlabelled data is easier (as they can be scraped easily…

In this paper, we introduce neural texture learning for 6D object pose estimation from synthetic data and a few unlabelled real images. Our major contribution is a novel learning scheme which removes the drawbacks of previous works, namely…

Estimating the 6D pose of objects unseen during training is highly desirable yet challenging. Zero-shot object 6D pose estimation methods address this challenge by leveraging additional task-specific supervision provided by large-scale,…

Build accurate DNN models requires training on large labeled, context specific datasets, especially those matching the target scenario. We believe advances in wireless localization, working in unison with cameras, can produce automated…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

The performance of deep neural networks improves with more annotated data. The problem is that the budget for annotation is limited. One solution to this is active learning, where a model asks human to annotate data that it perceived as…

Despite the advances in robotics a large proportion of the of parts handling tasks in the automotive industry's internal logistics are not automated but still performed by humans. A key component to competitively automate these processes is…

The usefulness of deep learning models in robotics is largely dependent on the availability of training data. Manual annotation of training data is often infeasible. Synthetic data is a viable alternative, but suffers from domain gap. We…

Deep neural networks have gained tremendous importance in many computer vision tasks. However, their power comes at the cost of large amounts of annotated data required for supervised training. In this work we review and compare different…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

While the use of artificial intelligence (AI) for medical image analysis is gaining wide acceptance, the expertise, time and cost required to generate annotated data in the medical field are significantly high, due to limited availability…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…