Object Learning for 6D Pose Estimation and Grasping from RGB-D Videos of In-hand Manipulation
Timothy Patten,Kiru Park,Markus Leitner,Kevin Wolfram,Markus Vincze,Timothy Patten,Kiru Park,Markus Leitner,Kevin Wolfram,Markus Vincze
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 reconstructions from human in-hand manipulation to alleviate the necessity of specialised or expensive...
