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

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

Object detection has greatly improved over the past decade thanks to advances in deep learning and large-scale datasets. However, detecting objects reflected in surfaces remains an underexplored area. Reflective surfaces are ubiquitous in…

We present MVIP, a novel dataset for multi-modal and multi-view application-oriented industrial part recognition. Here we are the first to combine a calibrated RGBD multi-view dataset with additional object context such as physical…

Intelligent vehicle systems require a deep understanding of the interplay between road conditions, surrounding entities, and the ego vehicle's driving behavior for safe and efficient navigation. This is particularly critical in developing…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream. Along this line, a large scale of grasping data either collected from simulation or from real world examples…

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…

Video anomaly detection (VAD) is a challenging task aiming to recognize anomalies in video frames, and existing large-scale VAD researches primarily focus on road traffic and human activity scenes. In industrial scenes, there are often a…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

We present Supermarket-6DoF, a real-world dataset of 1500 grasp attempts across 20 supermarket objects with publicly available 3D models. Unlike most existing grasping datasets that rely on analytical metrics or simulation for grasp…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

We present SynPick, a synthetic dataset for dynamic scene understanding in bin-picking scenarios. In contrast to existing datasets, our dataset is both situated in a realistic industrial application domain -- inspired by the well-known…

Estimating the 9D pose of everyday objects from a single real-world image remains challenging. This is largely due to the lack of large-scale supervision. Most existing datasets either rely heavily on synthetic renderings or provide limited…

This paper addresses the limitations of current datasets for 3D vision tasks in terms of accuracy, size, realism, and suitable imaging modalities for photometrically challenging objects. We propose a novel annotation and acquisition…

Accurate 6D pose estimation has gained more attention over the years for robotics-assisted tasks that require precise interaction with physical objects. This paper presents an interactive 3D-to-2D visualization and annotation tool to…

Intrinsic image decomposition (IID) is the task of separating an image into albedo and shade. In real-world scenes, it is difficult to quantitatively assess IID quality due to the unavailability of ground truth. The existing method provides…

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…

The increasing complexity of industrial anomaly detection (IAD) has positioned multimodal detection methods as a focal area of machine vision research. However, dedicated multimodal datasets specifically tailored for IAD remain limited.…

Visual recognition of materials and their states is essential for understanding the physical world, from identifying wet regions on surfaces or stains on fabrics to detecting infected areas on plants or minerals in rocks. Collecting data…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…