相关论文: Box Pose and Shape Estimation and Domain Adaptatio…

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…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

Real-world robotics problems often occur in domains that differ significantly from the robot's prior training environment. For many robotic control tasks, real world experience is expensive to obtain, but data is easy to collect in either…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

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…

Modern models that perform system-critical tasks such as segmentation and localization exhibit good performance and robustness under ideal conditions (i.e. daytime, overcast) but performance degrades quickly and often catastrophically when…

This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

Learning to estimate object pose often requires ground-truth (GT) labels, such as CAD model and absolute-scale object pose, which is expensive and laborious to obtain in the real world. To tackle this problem, we propose an unsupervised…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

Recent self-training techniques have shown notable improvements in unsupervised domain adaptation for 3D object detection (3D UDA). These techniques typically select pseudo labels, i.e., 3D boxes, to supervise models for the target domain.…

Accurate 6D pose estimation is essential for robotic manipulation in industrial environments. Existing pipelines typically rely on off-the-shelf object detectors followed by cropping and pose refinement, but their performance degrades under…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

Recent successes in machine learning have led to a shift in the design of autonomous systems, improving performance on existing tasks and rendering new applications possible. Data-focused approaches gain relevance across diverse, intricate…

Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…

Object pose estimation is a necessary prerequisite for autonomous robotic manipulation, but the presence of symmetry increases the complexity of the pose estimation task. Existing methods for object pose estimation output a single 6D pose.…

Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…

RGB-based 3D pose estimation methods have been successful with the development of deep learning and the emergence of high-quality 3D pose datasets. However, most existing methods do not operate well for testing images whose distribution is…

We consider the problem of source-free unsupervised category-level pose estimation from only RGB images to a target domain without any access to source domain data or 3D annotations during adaptation. Collecting and annotating real-world 3D…

Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…