This paper presents a comprehensive survey on vision-based robotic grasping. We
conclude three key tasks during vision-based robotic grasping, which are object localization …

Deep learning has recently gained popularity achieving state-of-the-art performance in tasks
involving text, sound, or image processing. Due to its outstanding performance, there have …

In this paper, we present a novel global descriptor M2DP for 3D point clouds, and apply it to
the problem of loop closure detection. In M2DP, we project a 3D point cloud to multiple 2D …

Tutorial: Point Cloud Library: Three-Dimensional Object Recognition and 6 DOF Pose Estimation
Page 1 Point Cloud Library Three-Dimensional Object Recognition and 6 DoF Pose Estimation …

This work addresses the problem of real-time 3D shape based object class recognition, its
scaling to many categories and the reliable perception of categories. A novel shape …

In recent years, real‐time 3D scanning technology has developed significantly and is now
able to capture large environments with considerable accuracy. Unfortunately, the …

An important logistics application of robotics involves manipulators that pick-and-place
objects placed in warehouse shelves. A critical aspect of this task corresponds to detecting …

In this work, we introduce the task of 3D object instance re-localization (RIO): given one or
multiple objects in an RGB-D scan, we want to estimate their corresponding 6DoF poses in …

Often practitioners face the issue of choosing the most adequate 3D features for their
problem. As with many other problems, there isn'ta “best” feature to use. Nonetheless, we …

We propose a novel approach for verifying model hypotheses in cluttered and heavily
occluded 3D scenes. Instead of verifying one hypothesis at a time, as done by most state-of …