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

6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

3D hand-object pose estimation is an important issue to understand the interaction between human and environment. Current hand-object pose estimation methods require detailed 3D labels, which are expensive and labor-intensive. To tackle the…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

Vision-based robotic object grasping is typically investigated in the context of isolated objects or unstructured object sets in bin picking scenarios. However, there are several settings, such as construction or warehouse automation, where…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

Most existing distance metric learning approaches use fully labeled data to learn the sample similarities in an embedding space. We present a self-training framework, SLADE, to improve retrieval performance by leveraging additional…

Human pose analysis is presently dominated by deep convolutional networks trained with extensive manual annotations of joint locations and beyond. To avoid the need for expensive labeling, we exploit spatiotemporal relations in training…

In this study, we introduce a deep-learning approach for determining both the 6DoF pose and 3D size of strawberries, aiming to significantly augment robotic harvesting efficiency. Our model was trained on a synthetic strawberry dataset,…

Estimating the pose of a pallet and other logistics objects is crucial for various use cases, such as automatized material handling or tracking. Innovations in computer vision, computing power, and machine learning open up new opportunities…

The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…

Supervised approaches to 3D pose estimation from single images are remarkably effective when labeled data is abundant. However, as the acquisition of ground-truth 3D labels is labor intensive and time consuming, recent attention has shifted…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

Recent methods for 6D pose estimation of objects assume either textured 3D models or real images that cover the entire range of target poses. However, it is difficult to obtain textured 3D models and annotate the poses of objects in real…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a…

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…