17 accepted papers
Robots operating in the real world are expected to detect, classify, segment, and estimate the pose of objects to accomplish their task. Modern approaches using deep learning not only require large volumes of data but also pixel-accurate annotations in order to evaluate the performance and therefore…
Automating the process of fleece contaminant removal has the potential to drastically improve the quality of wool leaving the farm gate. Towards this goal, we present a method to automatically extract skirting lines, i.e., the separations between clean and contaminated wool of a fleece using RGB ima…
"Structured light-based depth sensors provide accurate depth information independently of the scene appearance by extracting pattern positions from the captured pixel intensities. Spatial neighborhood encoding, in particular, is a popular structured light approach for off-the-shelf hardware. However…
While object semantic understanding is essential for service robotic tasks, 3D object classification is still an open problem. Learning from artificial 3D models alleviates the cost of the annotation necessary to approach this problem, but today’s methods still struggle with the differences between
Object models are highly useful for robots as they enable tasks such as detection, pose estimation and manipulation. However, models are not always easily available, especially in real-world domains of operation such as peoples’ homes. This work presents a pipeline to generate high-quality object re…
Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on synthetic data and testing in the real world, is challenging…
Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a noisy observation or a bad initialization. Learning-based me…
Object classification with 3D data is an essential component of any scene understanding method. It has gained significant interest in a variety of communities, most notably in robotics and computer graphics. While the advent of deep learning has progressed the field of 3D object classification, most
Recent methods for 6D pose estimation of objects assume either textured 3D models or real images that cover the entire range of target poses. However, it is difficult to obtain textured 3D models and annotate the poses of objects in real scenarios. This paper proposes a method, Neural Object Learnin…
Identifying new, moved or missing objects is an important capability for robot tasks such as surveillance or maintaining order in homes, offices and industrial settings. However, current approaches do not distinguish between novel objects or simple scene readjustments nor do they sufficiently deal w…
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 plausibility of individual object pose est
Developing robot perception systems for recognizing objects in the real world requires computer vision algorithms to be carefully scrutinized with respect to the expected operating domain. This demands large quantities of ground truth data to rigorously evaluate the performance of algorithms. This p…
Template matching has been shown to accurately estimate the pose of a new object given a limited number of samples. However, pose estimation of occluded objects is still challenging. Furthermore, many robot application domains encounter texture-less objects for which depth images are more suitable t…
Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized scanning devices. To address these problems, we propose a novel p…
Object classification is an important capability for robots as it provides vital semantic information that underpin most practical high-level tasks. Classic handcrafted features, such as point pair features, have demonstrated their robustness for this task. Combining these features with modern deep…
Dense 3D reconstructions generate globally consistent data of the environment suitable for many robot applications. Current RGB-D based reconstructions, however, only maintain the color resolution equal to the depth resolution of the used sensor. This firmly limits the precision and realism of the g…
Robots operating in human environments are often required to recognise, grasp and manipulate objects. Identifying the locations of objects amongst their complex surroundings is therefore an important capability. However, when environments are unstructured and cluttered, as is typical for indoor huma…