11,757 research outputs found
SegICP: Integrated Deep Semantic Segmentation and Pose Estimation
Recent robotic manipulation competitions have highlighted that sophisticated
robots still struggle to achieve fast and reliable perception of task-relevant
objects in complex, realistic scenarios. To improve these systems' perceptive
speed and robustness, we present SegICP, a novel integrated solution to object
recognition and pose estimation. SegICP couples convolutional neural networks
and multi-hypothesis point cloud registration to achieve both robust pixel-wise
semantic segmentation as well as accurate and real-time 6-DOF pose estimation
for relevant objects. Our architecture achieves 1cm position error and
<5^\circ$ angle error in real time without an initial seed. We evaluate and
benchmark SegICP against an annotated dataset generated by motion capture.Comment: IROS camera-read
Escape from Cells: Deep Kd-Networks for the Recognition of 3D Point Cloud Models
We present a new deep learning architecture (called Kd-network) that is
designed for 3D model recognition tasks and works with unstructured point
clouds. The new architecture performs multiplicative transformations and share
parameters of these transformations according to the subdivisions of the point
clouds imposed onto them by Kd-trees. Unlike the currently dominant
convolutional architectures that usually require rasterization on uniform
two-dimensional or three-dimensional grids, Kd-networks do not rely on such
grids in any way and therefore avoid poor scaling behaviour. In a series of
experiments with popular shape recognition benchmarks, Kd-networks demonstrate
competitive performance in a number of shape recognition tasks such as shape
classification, shape retrieval and shape part segmentation.Comment: Spotlight at ICCV'1
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