此外,通过动态移动的相机捕获一个静态对象可以防止完整的三维重建(例如,如果放在桌子上,就永远看不到对象的底部)。另一方面,实例级6自由度对象姿态估计和跟踪方法通常需要测试对象的纹理三维模型预先[24,28,66,72,73]进行预训练和/或在线模板匹配。虽然类别级方法能够泛化到同一类别[7,27,62,67,74]中的新对象实例...
The main challenge is how to generate grasping poses for unknown objects in cluttered scenes. This paper proposes a model-free 6-DOF grasp detection framework based on single-view local point clouds. The whole process includes three stages: Candidate Generation Network(CGN), Reliable Adjustment ...
Project:BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects Abstract We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for ...
Except for this watermark, it is identical to the accepted version; the final publisheTdimveersion of the proceedings is available on IEEE Xplore. Time BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects Bowen Wen Jonathan Tremblay Valts Blu...
We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when visual texture is largely absent. The object is assumed...
In this work, the material characterization of hardening magneto-rheological (MR) sponge is analyzed and a robot-assisted surgery system integrated with a 6-degrees-of-freedom (DOF) haptic master and slave root is constructed. As a first step, the viscoe
We also conduct experiments to test the performance of the TCP actuator in the robotic hand, including its ability to grasp an object. Although we do not integrate the TCP actuator with a PID control system into a robotic arm, we have created and tested both systems independently in this ...