Conceitos essenciais
Real-world benchmark and dataset for 6D object pose estimation in kitchen environments.
Resumo
I. Introduction:
Existing datasets focus on table-top grasping scenarios.
Challenges in mobile manipulation tasks within kitchen environments.
II. Related Work:
Overview of instance-level object datasets for 6D pose estimation.
III. The Kitchen Dataset:
Creation of a large-scale real-world dataset covering kitchen-related objects.
Dataset recorded using a humanoid robot in diverse kitchen settings.
IV. The Kitchen Benchmark:
Aim to encourage research on object 6D pose estimation with monocular vision from robots' FOV.
V. Conclusion:
Introduction of KITchen benchmark for object pose estimation in challenging kitchen environments.
Estatísticas
現在のトップ10モデルは、各データセットまたは各オブジェクトに対してモデルをトレーニングしています。
これらのトップ10アプローチの平均推論時間は0.0283フレーム/秒です。