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cs.RO2022
6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
Stephen Tyree, Jonathan Tremblay, Thang To +4
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 instanti…
cs.RO2020
Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
Jonathan Tremblay, Stephen Tyree, Terry Mosier +1
We present a robotic grasping system that uses a single external monocular RGB camera as input. The object-to-robot pose is computed indirectly by combining the output of two neura…
cs.RO2019
Camera-to-Robot Pose Estimation from a Single Image
Timothy E. Lee, Jonathan Tremblay, Thang To +5
We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network…