6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark

03/11/2022
by   Stephen Tyree, et al.
20

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are appropriately sized for robotic grasping and manipulation. We provide 3D scanned textured models of these objects, suitable for generating synthetic training data, as well as RGBD images of the objects in challenging, cluttered scenes exhibiting partial occlusion, extreme lighting variations, multiple instances per image, and a large variety of poses. Using semi-automated RGBD-to-model texture correspondences, the images are annotated with ground truth poses that were verified empirically to be accurate to within a few millimeters. We also propose a new pose evaluation metric called ADD-H based upon the Hungarian assignment algorithm that is robust to symmetries in object geometry without requiring their explicit enumeration. We share pre-trained pose estimators for all the toy grocery objects, along with their baseline performance on both validation and test sets. We offer this dataset to the community to help connect the efforts of computer vision researchers with the needs of roboticists.

READ FULL TEXT

page 1

page 3

page 4

page 5

research
06/18/2018

Learning Object Localization and 6D Pose Estimation from Simulation and Weakly Labeled Real Images

This work proposes a process for efficiently training a point-wise objec...
research
08/01/2020

PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation

Pose estimation of known objects is fundamental to tasks such as robotic...
research
01/19/2017

T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objects

We introduce T-LESS, a new public dataset for estimating the 6D pose, i....
research
10/19/2020

SHREC 2020 track: 6D Object Pose Estimation

6D pose estimation is crucial for augmented reality, virtual reality, ro...
research
06/23/2022

Unseen Object 6D Pose Estimation: A Benchmark and Baselines

Estimating the 6D pose for unseen objects is in great demand for many re...
research
10/13/2018

Pose Estimation for Objects with Rotational Symmetry

Pose estimation is a widely explored problem, enabling many robotic task...
research
03/26/2021

OmniHang: Learning to Hang Arbitrary Objects using Contact Point Correspondences and Neural Collision Estimation

In this paper, we explore whether a robot can learn to hang arbitrary ob...

Please sign up or login with your details

Forgot password? Click here to reset