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

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…

This paper describes recent developments in object specific pose and shape prediction from single images. The main contribution is a new approach to camera pose prediction by self-supervised learning of keypoints corresponding to locations…

Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…

We propose a novel unsupervised object localization method that allows us to explain the predictions of the model by utilizing self-supervised pre-trained models without additional finetuning. Existing unsupervised and self-supervised…

The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…

We propose an approach to estimating the 3D pose of a hand, possibly handling an object, given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by…

In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it is crucial for robots to have such graspability models of…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

It is widely accepted that reasoning about object shape is important for object recognition. However, the most powerful object recognition methods today do not explicitly make use of object shape during learning. In this work, motivated by…

3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set,…

Human pose estimation is a critical tool across a variety of healthcare applications. Despite significant progress in pose estimation algorithms targeting adults, such developments for infants remain limited. Existing algorithms for infant…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

The problem of object pose and shape estimation has seen key advancements lately. Encoder-decoder (e.g., SAM3D, LRM, CRISP) and diffusion-based models (e.g., InstantMesh, Zero123, SceneComplete) have shown category-agnostic shape encoding…

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…

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…