相关论文: Grasping Partially Occluded Objects Using Autoenco…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

Occlusion is one of the most significant challenges encountered by object detectors and trackers. While both object detection and tracking has received a lot of attention in the past, most existing methods in this domain do not target…

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…

We present a robotic system for picking a target from a pile of objects that is capable of finding and grasping the target object by removing obstacles in the appropriate order. The fundamental idea is to segment instances with both visible…

Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…

In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…

Occlusion is an inevitable and critical problem in unsupervised optical flow learning. Existing methods either treat occlusions equally as non-occluded regions or simply remove them to avoid incorrectness. However, the occlusion regions can…

We present a generalized grasping algorithm that uses point clouds (i.e. a group of points and their respective surface normals) to discover grasp pose solutions for multiple grasp types, executed by a mechanical gripper, in near real-time.…

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…

Occlusion is a common issue in 3D reconstruction from RGB-D videos, often blocking the complete reconstruction of objects and presenting an ongoing problem. In this paper, we propose a novel framework, empowered by a 2D diffusion-based…

Existing augmented reality (AR) applications often ignore occlusion between real hands and virtual objects when incorporating virtual objects in our views. The challenges come from the lack of accurate depth and mismatch between real and…

Objects often occlude each other in scenes; Inferring their appearance beyond their visible parts plays an important role in scene understanding, depth estimation, object interaction and manipulation. In this paper, we study the challenging…

Amodal segmentation aims to predict segmentation masks for both the visible and occluded regions of an object. Most existing works formulate this as a supervised learning problem, requiring manually annotated amodal masks or synthetic…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…

Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…