Robust and accurate superquadric recovery: A probabilistic approach
Interpreting objects with basic geometric primitives has long been studied in computer
vision. Among geometric primitives, superquadrics are well known for their ability to …
vision. Among geometric primitives, superquadrics are well known for their ability to …
RGB-D object SLAM using quadrics for indoor environments
Indoor service robots need to build an object-centric semantic map to understand and
execute human instructions. Conventional visual simultaneous localization and mapping …
execute human instructions. Conventional visual simultaneous localization and mapping …
Marching-primitives: Shape abstraction from signed distance function
Representing complex objects with basic geometric primitives has long been a topic in
computer vision. Primitive-based representations have the merits of compactness and …
computer vision. Primitive-based representations have the merits of compactness and …
Primitive-based shape abstraction via nonparametric bayesian inference
Abstract 3D shape abstraction has drawn great interest over the years. Apart from low-level
representations such as meshes and voxels, researchers also seek to semantically abstract …
representations such as meshes and voxels, researchers also seek to semantically abstract …
Grasp pose learning from human demonstration with task constraints
Y Liu, K Qian, X Xu, B Zhou, F Fang - Journal of Intelligent & Robotic …, 2022 - Springer
To learn grasp constraints from human demonstrations, we propose a method that combines
data-driven grasp constraint learning and one-shot human demonstration of tasks. By …
data-driven grasp constraint learning and one-shot human demonstration of tasks. By …
DSQNet: a deformable model-based supervised learning algorithm for grasping unknown occluded objects
Grasping previously unseen objects for the first time, in which only partially occluded views
of the object are available, remains a difficult challenge. Despite their recent successes …
of the object are available, remains a difficult challenge. Despite their recent successes …
Reconstructing Superquadrics from Intensity and Color Images
The task of reconstructing 3D scenes based on visual data represents a longstanding
problem in computer vision. Common reconstruction approaches rely on the use of multiple …
problem in computer vision. Common reconstruction approaches rely on the use of multiple …
Pixel-level domain adaptation for real-to-sim object pose estimation
Transferring robotic grasping skills learned from a simulator to the real world is beneficial in
reducing the cost of labeling. However, the models trained on synthetic data are brittle when …
reducing the cost of labeling. However, the models trained on synthetic data are brittle when …
GLOVER: Generalizable Open-Vocabulary Affordance Reasoning for Task-Oriented Grasping
Inferring affordable (ie, graspable) parts of arbitrary objects based on human specifications
is essential for robots advancing toward open-vocabulary manipulation. Current grasp …
is essential for robots advancing toward open-vocabulary manipulation. Current grasp …
Dimensioning Cuboid and Cylindrical Objects Using Only Noisy and Partially Observed Time-of-Flight Data
One of the challenges of using Time-of-Flight (ToF) sensors for dimensioning objects is that
the depth information suffers from issues such as low resolution, self-occlusions, noise, and …
the depth information suffers from issues such as low resolution, self-occlusions, noise, and …