2 papers
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.CV2022
Probabilistic Rotation Representation With an Efficiently Computable Bingham Loss Function and Its Application to Pose Estimation
Hiroya Sato, Takuya Ikeda, Koichi Nishiwaki
In recent years, a deep learning framework has been widely used for object pose estimation. While quaternion is a common choice for rotation representation of 6D pose, it cannot re…