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   Articles with "cluttered scenes" as a keyword



CM-UNet: ConvMixer UNet for Segmentation of Unknown Objects in Cluttered Scenes

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recommendations! Published in 2022 at "IEEE Access"

DOI: 10.1109/access.2022.3224588

Abstract: Object segmentation in cluttered environments is a fundamental pre-processing step for many perception-related tasks such as vision-based robotic grasping. Most of the existing object segmentation methods are incapable of precisely segmenting unknown objects, particularly in… read more here.

Keywords: cluttered scenes; unet convmixer; segmentation; segmentation unknown ... See more keywords

Category-Level Object Pose Estimation in Heavily Cluttered Scenes by Generalized Two-Stage Shape Reconstructor

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recommendations! Published in 2024 at "IEEE Access"

DOI: 10.1109/access.2024.3372658

Abstract: In this paper, we propose a method for robust estimation of the pose of an unknown object instance in an object category from a depth image, even if it is occluded. In cluttered scenes, objects… read more here.

Keywords: cluttered scenes; object pose; shape reconstructor; shape ... See more keywords

DDGC: Generative Deep Dexterous Grasping in Clutter

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recommendations! Published in 2021 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2021.3096239

Abstract: Recent advances in multi-fingered robotic grasping have enabled fast 6-Degrees-of-Freedom (DOF) single object grasping. Multi-finger grasping in cluttered scenes, on the other hand, remains mostly unexplored due to the added difficulty of reasoning over obstacles… read more here.

Keywords: clutter; clutter ddgc; high quality; multi finger ... See more keywords

Active-Perceptive Language-Oriented Grasp Policy for Heavily Cluttered Scenes

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recommendations! Published in 2025 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3604750

Abstract: Language-guided robotic grasping in cluttered environments presents significant challenges due to severe occlusions and complex scene structures, which often hinder accurate target localization. Existing approaches typically suffer from limited observational capabilities, resulting in suboptimal exploration… read more here.

Keywords: cluttered scenes; active perceptive; language; policy ... See more keywords

Robot Dexterous Grasping in Cluttered Scenes Based on Single-View Point Cloud

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recommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"

DOI: 10.1109/tase.2025.3575097

Abstract: Grasping is a basic but challenging task in intelligent robotic manipulation, and grasping pose detection is the key in this task. Most current work is shifting from 2D planar grasping to more flexible six-degree-of-freedom (6-DoF)… read more here.

Keywords: cluttered scenes; grasping; grasping cluttered; single view ... See more keywords