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

Grasping is natural for humans. However, it involves complex hand configurations and soft tissue deformation that can result in complicated regions of contact between the hand and the object. Understanding and modeling this contact can…

Modern approaches to grasp planning often involve deep learning. However, there are only a few large datasets of labelled grasping examples on physical robots, and available datasets involve relatively simple planar grasps with two-fingered…

Suction is an important solution for the longstanding robotic grasping problem. Compared with other kinds of grasping, suction grasping is easier to represent and often more reliable in practice. Though preferred in many scenarios, it is…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Real-time 6D object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…

We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and Spot, the quadruped robot manufactured by Boston Dynamics. The key-novelty is the focus on the robot's perspective, i.e.,…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

We present a validation dataset of newly-collected kitchen-based egocentric videos, manually annotated with highly detailed and interconnected ground-truth labels covering: recipe steps, fine-grained actions, ingredients with nutritional…

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…

6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their…

The enormous progress in the field of artificial intelligence (AI) enables retail companies to automate their processes and thus to save costs. Thereby, many AI-based automation approaches are based on machine learning and computer vision.…

We present a dataset of 998 3D models of everyday tabletop objects along with their 847,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to…

Accurate 6D pose estimation is essential for robotic manipulation in industrial environments. Existing pipelines typically rely on off-the-shelf object detectors followed by cropping and pose refinement, but their performance degrades under…

Accurate 6D object pose estimation is essential for robotic grasping and manipulation, particularly in agriculture, where fruits and vegetables exhibit high intra-class variability in shape, size, and texture. The vast majority of existing…