LAUSR

Selective Embedding with Gated Fusion for 6D Object Pose Estimation

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1 Published in 2020 at "Neural Processing Letters"

DOI: 10.1007/s11063-020-10198-8

Abstract: Deep learning method for 6D object pose estimation based on RGB image and depth (RGB-D) has been successfully applied to robot grasping. The fusion of RGB and depth is one of the most important difficulties.… read more here.

Keywords: estimation; embedding gated; pose estimation; selective embedding ... See more keywords

Fast Object Pose Estimation Using Adaptive Threshold for Bin-Picking

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1 Published in 2020 at "IEEE Access"

DOI: 10.1109/access.2020.2983173

Abstract: Robotic bin-picking is a common process in modern manufacturing, logistics, and warehousing that aims to pick-up known or unknown objects with random poses out of a bin by using a robot-camera system. Rapid and accurate… read more here.

Keywords: adaptive threshold; object pose; pose estimation; bin picking ... See more keywords

VeREFINE: Integrating Object Pose Verification With Physics-Guided Iterative Refinement

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0 Published in 2020 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2020.2996059

Abstract: Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This allows the physical… read more here.

Keywords: refinement; robotics; object pose; physics ... See more keywords

Improving Object Pose Estimation by Fusion With a Multimodal Prior – Utilizing Uncertainty-Based CNN Pipelines for Robotics

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1 Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3140450

Abstract: Estimating the pose of an object is essential for robot manipulation. In many applications the spatial and geometric relations between the object and the other parts of the world, e.g. the relation between the object… read more here.

Keywords: multimodal prior; pose estimation; robotics; improving object ... See more keywords

OSSID: Online Self-Supervised Instance Detection by (And For) Pose Estimation

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2 Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3145488

Abstract: Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to estimate… read more here.

Keywords: ossid; pose estimation; self supervised; object pose ... See more keywords

Voting and Attention-Based Pose Relation Learning for Object Pose Estimation From 3D Point Clouds

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2 Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3189158

Abstract: Estimating the 6DOF pose of objects is an important function in many applications, such as robot manipulation or augmented reality. However, accurate and fast pose estimation from 3D point clouds is challenging, because of the… read more here.

Keywords: point clouds; pose estimation; object pose; estimation point ... See more keywords

Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation

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1 Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3222998

Abstract: 6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty… read more here.

Keywords: ambiguity aware; object pose; multi object; visually assisted ... See more keywords

Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators

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2 Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2023.3259735

Abstract: This letter introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods,… read more here.

Keywords: training evaluating; object pose; pose estimation; imitation learning ... See more keywords

Semi-Supervised 6D Object Pose Estimation Without Using Real Annotations

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1 Published in 2022 at "IEEE Transactions on Circuits and Systems for Video Technology"

DOI: 10.1109/tcsvt.2021.3138129

Abstract: 6D object pose estimation is a longstanding computer vision problem. Existing deep learning-based methods have achieved inspiring results in this task. However, large-scale training data with annotations is extremely needed to guarantee these methods’ performance,… read more here.

Keywords: synthetic data; pose estimation; semi supervised; object pose ... See more keywords

Category-Level 6D Object Pose Estimation With Structure Encoder and Reasoning Attention

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1 Published in 2022 at "IEEE Transactions on Circuits and Systems for Video Technology"

DOI: 10.1109/tcsvt.2022.3169144

Abstract: Category-level 6D object pose estimation has gained popularity and it is still challenging due to the diversity of different instances within the same category. In this paper, a novel category-level 6D object pose estimation framework… read more here.

Keywords: pose estimation; structure; reasoning attention; object pose ... See more keywords

6-D Object Pose Estimation Using Multiscale Point Cloud Transformer

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3 Published in 2023 at "IEEE Transactions on Instrumentation and Measurement"

DOI: 10.1109/tim.2022.3222467

Abstract: Predicting 6-D object pose is an essential task in vision measurement for robotic manipulation. RGB-based methods have a natural disadvantage due to the lack of 3-D information, thus leading to inferior results. Therefore, exploiting the… read more here.

Keywords: pose estimation; point cloud; object pose; transformer ... See more keywords