相关论文: XYZ-IBD: A High-precision Bin-picking Dataset for …

We present a new dataset, called Falling Things (FAT), for advancing the state-of-the-art in object detection and 3D pose estimation in the context of robotics. By synthetically combining object models and backgrounds of complex composition…

We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

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…

Our work introduces the YCB-Ev dataset, which contains synchronized RGB-D frames and event data that enables evaluating 6DoF object pose estimation algorithms using these modalities. This dataset provides ground truth 6DoF object poses for…

Despite progress in vision-based inspection algorithms, real-world industrial challenges -- specifically in data availability, quality, and complex production requirements -- often remain under-addressed. We introduce the VISION Datasets, a…

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.…

This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods…

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…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

6D object pose estimation aims at determining an object's translation, rotation, and scale, typically from a single RGBD image. Recent advancements have expanded this estimation from instance-level to category-level, allowing models to…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

Recent advances on 6D object pose estimation have achieved high performance on representative benchmarks such as LM-O, YCB-V, and T-Less. However, these datasets were captured under fixed illumination and camera settings, leaving the impact…

Automatic visual inspection using machine learning plays a key role in achieving zero-defect policies in industry. Research on anomaly detection is constrained by the availability of datasets that capture complex defect appearances and…

Industrial anomaly detection (IAD) has garnered significant attention and experienced rapid development. However, the recent development of IAD approach has encountered certain difficulties due to dataset limitations. On the one hand, most…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

This paper is about effectively utilizing synthetic data for training deep neural networks for industrial parts classification, in particular, by taking into account the domain gap against real-world images. To this end, we introduce a…

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…

Robust 6D pose estimation of novel objects under challenging illumination remains a significant challenge, often requiring a trade-off between accurate initial pose estimation and efficient real-time tracking. We present a unified framework…