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Scene Analysis for Service Robots
[chapter]
2012
Springer Tracts in Advanced Robotics
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A scene analysis module for service robots is presented which uses SIFT in a stereo setting, a systematic handling of uncertainties and an active perception component. ...
The system is integrated and evaluated on the DESIRE two-arm mobile robot. Complex everyday scenes composed of various items from a 100-object database are analyzed successfully and efficiently. ...
One of the earlier papers on object pose estimation [12] dealt already with the high number of one hundred different classes. ...
doi:10.1007/978-3-642-25116-0_15
fatcat:5x3ls6ethrd6rjrf46dbh4ohci
A Comprehensive Review on 3D Object Detection and 6D Pose Estimation with Deep Learning
2021
IEEE Access
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Chabot [27] made a framework called Deep MANTA for 3D object detection based on a 825 single-dimensional image in an end-to-end fashion network, determining the object class, 2D region proposal generation ...
It is easier to predict the 6D pose in RGBD images than in 325 RGB images because the 6D pose is a complex combination of 3D rotation of an object (raw, pitch, yaw) and 3D coordinates (X, Y, Z) at the ...
doi:10.1109/access.2021.3114399
fatcat:kvdwsslqxff3lkh27tsdsciqma
Pixels, Stixels, and Objects
[chapter]
2012
Lecture Notes in Computer Science
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The high spatial and temporal resolution allows for robust obstacle detection in complex inner city scenarios, including pedestrian recognition and detection of partially hidden moving objects. ...
This paper shows how this representation forms the foundation for a very efficient, robust and comprehensive understanding of traffic scenes. ...
Introduction Driver assistance in complex urban environments is a challenging task requiring comprehensive perception of static and moving objects. ...
doi:10.1007/978-3-642-33885-4_1
fatcat:fgchjdk4frfxthw36hwvire4su
W-PoseNet: Dense Correspondence Regularized Pixel Pair Pose Regression
[article]
2021
arXiv
pre-print
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In other words, local features learned for pose regression in our deep network are regularized by explicitly learning pixel-wise correspondence mapping onto 3D pose-sensitive coordinates as an auxiliary ...
This paper introduces a novel pose estimation algorithm W-PoseNet, which densely regresses from input data to 6D pose and also 3D coordinates in model space. ...
In light of this, encoding a discriminative and robust feature representation for each instance is essential for predicting its 6D pose. ...
arXiv:1912.11888v2
fatcat:j72va3fqpbafxfh642gciqdu6u
Image-based camera localization: an overview
2018
Visual Computing for Industry, Biomedicine, and Art
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Trends for future development are also discussed. This will be useful not only to researchers, but also to engineers and other individuals interested in this field. ...
However, there has not been a complete review on image-based camera localization. It is urgent to map this topic to enable individuals enter the field quickly. ...
Publisher's Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Received: 3 April 2018 Accepted: 6 July 2018 ...
doi:10.1186/s42492-018-0008-z
pmid:32240389
fatcat:3ojnmancw5fbjcdhasko2mz4cq
Planning for Multi-stage Forceful Manipulation
[article]
2021
arXiv
pre-print
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In two domains, opening a childproof bottle and twisting a nut, we demonstrate how the system considers a combinatorial number of strategies and how choosing actions that are robust to parameter variations ...
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. ...
We thank the members of the MCube Lab and LIS Group for their helpful feedback and especially Caelan Garrett for the many PDDLStream discussions. ...
arXiv:2101.02679v2
fatcat:5my5zgqozfe6dbnjay7v5xmewa
Mixing deep learning with classical vision for object recognition
2020
Journal of WSCG
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In this paper, we try to show the advantages of mixing deep learning object recognition/detection with classical 6-DOF pose estimation algorithms, with a focus on applications in service robotics. ...
Accurate 6-DOF object localization in the image is a more laborious task and requires more complex training data to be available. ...
PoseCNN, SSD-6D, and similar requires pose-labeled images as the input for the training. ...
doi:10.24132/jwscg.2020.28.18
fatcat:2gox4lcdqzc6fct2dpk4hnj7rq
Multi-path Learning for Object Pose Estimation Across Domains
[article]
2020
arXiv
pre-print
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We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. ...
Despite training jointly on multiple objects, our 6D Object Detection pipeline achieves state-of-the-art results on T-LESS at much lower runtimes than competing approaches. ...
search in the large 6D pose space. ...
arXiv:1908.00151v2
fatcat:nfspzncnxveilcjncfhswnqvgu
SPEED+: Next-Generation Dataset for Spacecraft Pose Estimation across Domain Gap
[article]
2021
arXiv
pre-print
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dataset of images of the intended target in the space environment. ...
SPEED+ is used in the second international Satellite Pose Estimation Challenge co-hosted by SLAB and the Advanced Concepts Team of the European Space Agency to evaluate and compare the robustness of spaceborne ...
Finally, HigherHRNet is trained to detect the same 11 keypoints as in KRN, but it returns heatmaps associated with each keypoints. Then, PnP is solved for complete 6D pose. ...
arXiv:2110.03101v2
fatcat:q2gzjwhcdvdjvcbdu2y6sf7ovu
Learning visual representations for perception-action systems
2010
The international journal of robotics research
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In contrast to the minimalistic visual representations produced by RLVC and RLJC, our second method learns structural object models for robust object detection and pose estimation by probabilistic inference ...
We discuss vision as a sensory modality for systems that effect actions in response to perceptions. ...
We thank Volker Krüger and Dennis Herzog for their support during the recording of the human demonstration data. ...
doi:10.1177/0278364910382464
fatcat:rxvavyfjfjfs5ht7g23w5sawoe
SLAM with Objects using a Nonparametric Pose Graph
[article]
2017
arXiv
pre-print
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Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. ...
This paper proposes a novel nonparametric pose graph that models data association and SLAM in a single framework. ...
ACKNOWLEDGMENTS This research is supported in part by ARO MURI grant W911NF-11-1-0391, ONR grant N00014-11-1-0688 and NSF Award IIS-1318392. ...
arXiv:1704.05959v1
fatcat:pnjf53sddvhiljdlrlojepo5oq
Probabilistic Algorithms in Robotics
2000
The AI Magazine
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The views and conclusions contained in this document are those of the author and should not be interpreted as necessarily representing official policies or endorsements, either expressed or implied, of ...
Another class of approaches relies on tree search for policy determination, such as the work on active perception and sensor planning by Kristensen (1997 Kristensen ( , 1996 . ...
In all these cases, the probabilistic nature of the algorithms has been essential for achieving robustness in the face of uncertain and dynam-ic environments. ...
doi:10.1609/aimag.v21i4.1534
dblp:journals/aim/Thrun00
fatcat:jm6mxmuc4rh6ngtdrcw3czsyca
Learning Visual Representations for Interactive Systems
[chapter]
2011
Springer Tracts in Advanced Robotics
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In contrast to the minimalistic visual representations produced by RLVC and RLJC, our second method learns structural object models for robust object detection and pose estimation by probabilistic inference ...
We describe two quite different methods for associating action parameters to visual percepts. Our RLVC algorithm performs reinforcement learning directly on the visual input space. ...
We thank Volker Krüger and Dennis Herzog for their support during the recording of the human demonstration data. ...
doi:10.1007/978-3-642-19457-3_24
fatcat:gioekjwsufap3mkoahflly2zqi
Comparing ICP variants on real-world data sets
2013
Autonomous Robots
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Because ICP has many variants whose performances depend on the environment and the sensor, hundreds of variations have been published. ...
Besides demonstrating the need for improved ICP methods for natural, unstructured and information-deprived environments, these baseline variants also provide a solid basis to which novel solutions could ...
Acknowledgments This work was supported by the EU FP7 IP projects Natural Human-Robot Cooperation in Dynamic Environments (ICT-247870) and myCopter (FP7-AAT-2010-RTD-1). F. ...
doi:10.1007/s10514-013-9327-2
fatcat:lu6n2drpr5fqfb653ybkmtvefu
Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach
[article]
2018
arXiv
pre-print
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The light-weight and single-pass generative nature of our GG-CNN allows for closed-loop control at up to 50Hz, enabling accurate grasping in non-static environments where objects move and in the presence ...
In our real-world tests, we achieve an 83% grasp success rate on a set of previously unseen objects with adversarial geometry and 88% on a set of household objects that are moved during the grasp attempt ...
ACKNOWLEDGMENTS This research was supported by the Australian Research Council Centre of Excellence for Robotic Vision (project number CE140100016). ...
arXiv:1804.05172v2
fatcat:xwzi57et7fg3rofqey5esivuda
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