相关论文: ZePHyR: Zero-shot Pose Hypothesis Rating

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…

Stance detection is an important component of understanding hidden influences in everyday life. Since there are thousands of potential topics to take a stance on, most with little to no training data, we focus on zero-shot stance detection:…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…

We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…

Accurate pose estimation of surgical tools in Robot-assisted Minimally Invasive Surgery (RMIS) is essential for surgical navigation and robot control. While traditional marker-based methods offer accuracy, they face challenges with…

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…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

This paper proposes a novel method for estimating the set of plausible poses of a rigid object from a set of points with volumetric information, such as whether each point is in free space or on the surface of the object. In particular, we…

Zero-shot object detection aims to localize and recognize objects of unseen classes. Most of existing works face two problems: the low recall of RPN in unseen classes and the confusion of unseen classes with background. In this paper, we…

Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…

Leveraging class semantic descriptions and examples of known objects, zero-shot learning makes it possible to train a recognition model for an object class whose examples are not available. In this paper, we propose a novel zero-shot…

In this paper, we present a novel zero-shot camera calibration method that estimates camera parameters with no calibration image. It is common sense that we need at least one or more pattern images for camera calibration. However, the…

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…

In principle, zero-shot learning makes it possible to train a recognition model simply by specifying the category's attributes. For example, with classifiers for generic attributes like \emph{striped} and \emph{four-legged}, one can…

This paper introduces a novel framework for zero-shot learning (ZSL), i.e., to recognize new categories that are unseen during training, by using a multi-model and multi-alignment integration method. Specifically, we propose three…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…