相关论文: JENGA: Object selection and pose estimation for ro…

Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…

This paper includes a review of current state of the art 6d pose estimation methods, as well as a discussion of which pose estimation method should be used in two types of architectural design scenarios. Taking the latest pose estimation…

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…

Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…

We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

The integration of vision-based frameworks to achieve lunar robot applications faces numerous challenges such as terrain configuration or extreme lighting conditions. This paper presents a generic task pipeline using object detection,…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…