Sar-net: Shape alignment and recovery network for category-level 6d object pose and size estimation
Given a single scene image, this paper proposes a method of Category-level 6D Object
Pose and Size Estimation (COPSE) from the point cloud of the target object, without external …
Pose and Size Estimation (COPSE) from the point cloud of the target object, without external …
Factored pose estimation of articulated objects using efficient nonparametric belief propagation
Robots working in human environments often encounter a wide range of articulated objects,
such as tools, cabinets, and other jointed objects. Such articulated objects can take an …
such as tools, cabinets, and other jointed objects. Such articulated objects can take an …
Dtf-net: Category-level pose estimation and shape reconstruction via deformable template field
Estimating 6D poses and reconstructing 3D shapes of objects in open-world scenes from
RGB-depth image pairs is challenging. Many existing methods rely on learning geometric …
RGB-depth image pairs is challenging. Many existing methods rely on learning geometric …
Grip: Generative robust inference and perception for semantic robot manipulation in adversarial environments
Recent advancements have led to a proliferation of machine learning systems used to assist
humans in a wide range of tasks. However, we are still far from accurate, reliable, and …
humans in a wide range of tasks. However, we are still far from accurate, reliable, and …
Scene-level pose estimation for multiple instances of densely packed objects
This paper introduces key machine learning operations that allow the realization of robust,
joint 6D pose estimation of multiple instances of objects either densely packed or in …
joint 6D pose estimation of multiple instances of objects either densely packed or in …
Parts-based articulated object localization in clutter using belief propagation
Robots working in human environments must be able to perceive and act on challenging
objects with articulations, such as a pile of tools. Articulated objects increase the …
objects with articulations, such as a pile of tools. Articulated objects increase the …
Online object model reconstruction and reuse for lifelong improvement of robot manipulation
This work proposes a robotic pipeline for picking and constrained placement of objects
without geometric shape priors. Compared to recent efforts developed for similar tasks …
without geometric shape priors. Compared to recent efforts developed for similar tasks …
Glassloc: plenoptic grasp pose detection in transparent clutter
Transparent objects are prevalent across many environments of interest for dexterous
robotic manipulation. Such transparent material leads to considerable uncertainty for robot …
robotic manipulation. Such transparent material leads to considerable uncertainty for robot …
Lit: Light-field inference of transparency for refractive object localization
Translucency is prevalent in everyday scenes. As such, perception of transparent objects is
essential for robots to perform manipulation. Compared with texture-rich or texture-less …
essential for robots to perform manipulation. Compared with texture-rich or texture-less …
Sd-pose: Structural discrepancy aware category-level 6d object pose estimation
Category-level 6D object pose estimation aims to predict the full pose and size information
for previously unseen instances from known categories, which is an essential portion of …
for previously unseen instances from known categories, which is an essential portion of …