相关论文: KITchen: A Real-World Benchmark and Dataset for 6D…

The World Robot Summit 2018 Assembly Challenge included four different tasks. The kitting task, which required bin-picking, was the task in which the fewest points were obtained. However, bin-picking is a vital skill that can significantly…

Existing object pose estimation datasets are related to generic object types and there is so far no dataset for fine-grained object categories. In this work, we introduce a new large dataset to benchmark pose estimation for fine-grained…

Creating computer vision datasets requires careful planning and lots of time and effort. In robotics research, we often have to use standardized objects, such as the YCB object set, for tasks such as object tracking, pose estimation,…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

Food image segmentation is a critical task for dietary analysis, enabling accurate estimation of food volume and nutrients. However, current methods suffer from limited multi-view data and poor generalization to new viewpoints. We introduce…

Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in embodied robotic agents, fail to…

Transparent objects are ubiquitous in household settings and pose distinct challenges for visual sensing and perception systems. The optical properties of transparent objects leave conventional 3D sensors alone unreliable for object depth…

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…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

6D object pose estimation suffers from reduced accuracy when applied to metallic objects. We set out to improve the state-of-the-art by addressing challenges such as reflections and specular highlights in industrial applications. Our novel…

This paper presents an AI system applied to location and robotic grasping. Experimental setup is based on a parameter study to train a deep-learning network based on Mask-RCNN to perform waste location in indoor and outdoor environment,…

In this report, we present our approach to the EPIC-KITCHENS VISOR Hand Object Segmentation Challenge, which focuses on the estimation of the relation between the hands and the objects given a single frame as input. The EPIC-KITCHENS VISOR…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

Image-based methods to analyze food images have alleviated the user burden and biases associated with traditional methods. However, accurate portion estimation remains a major challenge due to the loss of 3D information in the 2D…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Accurate 3D understanding of human hands and objects during manipulation remains a significant challenge for egocentric computer vision. Existing hand-object interaction datasets are predominantly captured in controlled studio settings,…

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

Object localization, and more specifically object pose estimation, in large industrial spaces such as warehouses and production facilities, is essential for material flow operations. Traditional approaches rely on artificial artifacts…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

In this paper, we propose an iterative self-training framework for sim-to-real 6D object pose estimation to facilitate cost-effective robotic grasping. Given a bin-picking scenario, we establish a photo-realistic simulator to synthesize…