Self-supervised 6D Object Pose Estimation for Robot Manipulation
Xinke Deng,Yu Xiang,Arsalan Mousavian,Clemens Eppner,Timothy Bretl,Dieter Fox,Xinke Deng,Yu Xiang,Arsalan Mousavian,Clemens Eppner,Timothy Bretl,Dieter Fox
To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self- supervised way is important. In this work, we introduce a robot system for self-supervised 6D object pose estimation. Starting from modules trained in simulation, our system is able to label real world images with accurate 6D o...
