1.2k citations · 1.3k across the 14 of their papers we have counts for
4 papers · 1 filter
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree +2
We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as i…
A Joint Network for Grasp Detection Conditioned on Natural Language Commands
Yiye Chen, Ruinian Xu, Yunzhi Lin +1
We consider the task of grasping a target object based on a natural language command query. Previous work primarily focused on localizing the object given the query, which requires…
Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM
Yipu Zhao, Justin S. Smith, Patricio A. Vela
The cost-efficiency of visual(-inertial) SLAM (VSLAM) is a critical characteristic of resource-limited applications. While hardware and algorithm advances have been significantly i…
Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping
Yunzhi Lin, Chao Tang, Fu-Jen Chu +1
A segmentation-based architecture is proposed to decompose objects into multiple primitive shapes from monocular depth input for robotic manipulation. The backbone deep network is…