相关论文: Enhanced 6D Pose Estimation for Robotic Fruit Pick…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

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…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

Grasping algorithms have evolved from planar depth grasping to utilizing point cloud information, allowing for application in a wider range of scenarios. However, data-driven grasps based on models trained on basic open-source datasets may…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…

Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…

Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

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…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

Despite the advances in robotics a large proportion of the of parts handling tasks in the automotive industry's internal logistics are not automated but still performed by humans. A key component to competitively automate these processes is…