相关论文: MR6D: Benchmarking 6D Pose Estimation for Mobile R…

6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

The accurate estimation of six degrees-of-freedom (6DoF) object poses is essential for many applications in robotics and augmented reality. However, existing methods for 6DoF pose estimation often depend on CAD templates or dense support…

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…

Deep learning advances have enabled accurate six-degree-of-freedom (6DoF) object pose estimation, widely used in robotics, AR/VR, and autonomous systems. However, backdoor attacks pose significant security risks. While most research focuses…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

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…

Accurate hand pose estimation at joint level has several uses on human-robot interaction, user interfacing and virtual reality applications. Yet, it currently is not a solved problem. The novel deep learning techniques could make a great…

This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the ``Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D,…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

Most existing mobile robotic datasets primarily capture static scenes, limiting their utility for evaluating robotic performance in dynamic environments. To address this, we present a mobile robot oriented large-scale indoor dataset,…

In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…

Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refractive and reflective properties when it comes to accurately…

In this paper, we present a generalizable model-free 6-DoF object pose estimator called Gen6D. Existing generalizable pose estimators either need high-quality object models or require additional depth maps or object masks in test time,…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

Accurate 6D object pose estimation is essential for robotic grasping and manipulation, particularly in agriculture, where fruits and vegetables exhibit high intra-class variability in shape, size, and texture. The vast majority of existing…

Comprehending natural language instructions is a critical skill for robots to cooperate effectively with humans. In this paper, we aim to learn 6D poses for roboticassembly by natural language instructions. For this purpose,…