相关论文: RGBManip: Monocular Image-based Robotic Manipulati…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

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…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D…

A key requirement for autonomous on-orbit proximity operations is the estimation of a target spacecraft's relative pose (position and orientation). It is desirable to employ monocular cameras for this problem due to their low cost, weight,…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Touch plays a fundamental role in manipulation for humans; however, machine perception of contact and pressure typically requires invasive sensors. Recent research has shown that deep models can estimate hand pressure based on a single RGB…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Training robust bimanual manipulation policies via imitation learning requires demonstration data with broad coverage over robot poses, contacts, and scene contexts. However, collecting diverse and precise real-world demonstrations is…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on multi-camera setups or costly ray…

In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…

The emergence of RGB-D sensors offered new possibilities for addressing complex artificial vision problems efficiently. Human posture recognition is among these computer vision problems, with a wide range of applications such as ambient…