6 papers
SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Robotics
Peter Hönig, Peter Hönig, Stefan Thalhammer +3
Object manipulation requires accurate object pose estimation. In open environments, robots encounter unknown objects, which requires semantic understanding in order to generalize b…
OTAS: Open-vocabulary Token Alignment for Outdoor Segmentation
Simon Schwaiger, Stefan Thalhammer, Wilfried Wöber +1
Understanding open-world semantics is critical for robotic planning and control, particularly in unstructured outdoor environments. Existing vision-language mapping approaches typi…
ViT-VS: On the Applicability of Pretrained Vision Transformer Features for Generalizable Visual Servoing
Alessandro Scherl, Stefan Thalhammer, Bernhard Neuberger +2
Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally…
Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection
Tessa Pulli, Peter Hönig, Stefan Thalhammer +2
Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However…
ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning
Hrishikesh Gupta, Stefan Thalhammer, Jean-Baptiste Weibel +2
Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refract…
Diffusion Features for Zero-Shot 6DoF Object Pose Estimation
Bernd Von Gimborn, Philipp Ausserlechner, Markus Vincze +1
Zero-shot object pose estimation enables the retrieval of object poses from images without necessitating object-specific training. In recent approaches this is facilitated by visio…