相关论文: Pose-free object classification from surface conta…

Robots acting in open environments need to be able to handle novel objects. Based on the observation that objects within a category are often similar in their shapes and usage, we propose an approach for transferring grasping skills from…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

If a robot is supposed to roam an environment and interact with objects, it is often necessary to know all possible objects in advance, so that a database with models of all objects can be generated for visual identification. However, this…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

Industrial object detection systems typically rely on large annotated datasets, which are expensive to collect and challenging to maintain in industrial scenarios where the inventory of objects changes frequently. This work addresses the…

In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…

Current robotic haptic object recognition relies on statistical measures derived from movement dependent interaction signals such as force, vibration or position. Mechanical properties that can be identified from these signals are intrinsic…

The sense of touch is fundamental in several manipulation tasks, but rarely used in robot manipulation. In this work we tackle the problem of learning rich touch features from cross-modal self-supervision. We evaluate them identifying…

Motivated by the need for estimating the 3D pose of arbitrary objects, we consider the challenging problem of class-agnostic object viewpoint estimation from images only, without CAD model knowledge. The idea is to leverage features learned…

Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…

This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

We propose a joint object pose estimation and categorization approach which extracts information about object poses and categories from the object parts and compositions constructed at different layers of a hierarchical object…

A holistic understanding of object properties across diverse sensory modalities (e.g., visual, audio, and haptic) is essential for tasks ranging from object categorization to complex manipulation. Drawing inspiration from cognitive science…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object.…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

Visual object recognition is one of the most important perception functions for a wide range of intelligent machines. A conventional recognition process begins with forming a clear optical image of the object, followed by its computer…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…