相关论文: 6D Pose Estimation on Point Cloud Data through Pri…

6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set…

Knowledge distillation facilitates the training of a compact student network by using a deep teacher one. While this has achieved great success in many tasks, it remains completely unstudied for image-based 6D object pose estimation. In…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…

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…

Existing 6D pose estimation datasets primarily focus on small household objects typically handled by robot arm manipulators, limiting their relevance to mobile robotics. Mobile platforms often operate without manipulators, interact with…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

Accurate and efficient 6D pose estimation of novel objects under clutter and occlusion is critical for robotic manipulation across warehouse automation, bin picking, logistics, and e-commerce fulfillment. There are three main approaches in…

The effectiveness of rock support in underground mines depends on the interaction between installed rock bolts and the structural fabric of the surrounding rock mass. However, discontinuity characterisation and rock bolt identification are…

It is often desired to train 6D pose estimation systems on synthetic data because manual annotation is expensive. However, due to the large domain gap between the synthetic and real images, synthesizing color images is expensive. In…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

An automated robotic system needs to be as robust as possible and fail-safe in general while having relatively high precision and repeatability. Although deep learning-based methods are becoming research standard on how to approach 3D scan…

Category-level 6D pose estimation, aiming to predict the location and orientation of unseen object instances, is fundamental to many scenarios such as robotic manipulation and augmented reality, yet still remains unsolved. Precisely…

The recent success of pre-trained 2D vision models is mostly attributable to learning from large-scale datasets. However, compared with 2D image datasets, the current pre-training data of 3D point cloud is limited. To overcome this…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

To enable meaningful robotic manipulation of objects in the real-world, 6D pose estimation is one of the critical aspects. Most existing approaches have difficulties to extend predictions to scenarios where novel object instances are…