相关论文: Sim-to-Real 6D Object Pose Estimation via Iterativ…

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…

Semi-supervised learning aims to boost the accuracy of a model by exploring unlabeled images. The state-of-the-art methods are consistency-based which learn about unlabeled images by encouraging the model to give consistent predictions for…

For many practical problems and applications, it is not feasible to create a vast and accurately labeled dataset, which restricts the application of deep learning in many areas. Semi-supervised learning algorithms intend to improve…

I present the Lower Biased Teacher model, an enhancement of the Unbiased Teacher model, specifically tailored for semi-supervised object detection tasks. The primary innovation of this model is the integration of a localization loss into…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Deep learning has emerged as an effective solution for solving the task of object detection in images but at the cost of requiring large labeled datasets. To mitigate this cost, semi-supervised object detection methods, which consist in…

Single shot approaches have demonstrated tremendous success on various computer vision tasks. Finding good parameterizations for 6D object pose estimation remains an open challenge. In this work, we propose different novel parameterizations…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Semi-supervised object detection has made significant progress with the development of mean teacher driven self-training. Despite the promising results, the label mismatch problem is not yet fully explored in the previous works, leading to…

6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their…

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…

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…

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…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Manual annotation of bounding boxes for object detection in digital images is tedious, and time and resource consuming. In this paper, we propose a semi-automatic method for efficient bounding box annotation. The method trains the object…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…