相关论文: ShapeShift: Superquadric-based Object Pose Estimat…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…

In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the…

Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…

Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast, we address the scenario where only a single reference view of the object is available. Our…

We present DeSOPE, a large-scale dataset for 6DoF deformed objects. Most 6D object pose methods assume rigid or articulated objects, an assumption that fails in practice as objects deviate from their canonical shapes due to wear, impact, or…

This study presents a grasping method for objects with uneven mass distribution by leveraging diffusion models to localize the center of gravity (CoG) on unknown objects. In robotic grasping, CoG deviation often leads to postural…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

Grasping the same object in different postures is often necessary, especially when handling tools or stacked items. Due to unknown object properties and changes in grasping posture, the required grasping force is uncertain and variable.…

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…

Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…

In this paper, we tackle the challenging problem of 3D keypoint estimation of general objects using a novel implicit representation. Previous works have demonstrated promising results for keypoint prediction through direct coordinate…

Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…

Position representation is crucial for building position-aware representations in Transformers. Existing position representations suffer from a lack of generalization to test data with unseen lengths or high computational cost. We…

Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…