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cs.RO2024
A Planar-Symmetric SO(3) Representation for Learning Grasp Detection
Tianyi Ko, Takuya Ikeda, Hiroya Sato +1
Planar-symmetric hands, such as parallel grippers, are widely adopted in both research and industrial fields. Their symmetry, however, introduces ambiguity and discontinuity in the…
cs.CV2024
ViFu: Multiple 360 Objects Reconstruction with Clean Background via Visible Part Fusion
Tianhan Xu, Takuya Ikeda, Koichi Nishiwaki
In this paper, we propose a method to segment and recover a static, clean background and multiple 360 objects from observations of scenes at different timestamps. Recent wo…
cs.CV2024
DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation
Takuya Ikeda, Sergey Zakharov, Tianyi Ko +5
This paper addresses the challenging problem of category-level pose estimation. Current state-of-the-art methods for this task face challenges when dealing with symmetric objects a…