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Multi-View Fusion for Multi-Level Robotic Scene Understanding

arXiv 2103.13539 ↗First posted 25 Mar 2021cs.ROcited by 17

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Abstract (arXiv)

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene, for the purpose of obstacle avoidance; 2) the rough pose of unknown objects from categories corresponding to primitive shapes (e.g., cuboids and cylinders); and 3) full 6-DoF pose of known objects. By developing and fusing recent techniques in these domains, we provide a rich scene representation for robot awareness. We demonstrate the importance of each of these modules, their complementary nature, and the potential benefits of the system in the context of robotic manipulation.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Mar 2021.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 3; 2023: 3; 2024: 5; 2025: 3; 2026: 2.

17 papers.

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  1. 20226-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmarkcited by 85
  2. 2022Multi-Robot Collaborative Perception with Graph Neural Networkscited by 34
  3. 2024DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimationcited by 24
  4. 2026RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policiescited by 19
  5. 2021From SLAM to Situational Awareness: Challenges and Surveycited by 14
  6. 2022RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Controlcited by 10
  7. 20256D Object Pose Tracking in Internet Videos for Robotic Manipulationcited by 10
  8. 2024Zero-Shot Multi-Object Scene Completioncited by 9
  9. 2023RIC: Rotate-Inpaint-Complete for Generalizable Scene Reconstructioncited by 3
  10. 2024Learning Embeddings with Centroid Triplet Loss for Object Identification in Robotic Graspingcited by 3
  11. 2025PhysPose: Refining 6D Object Poses with Physical Constraintscited by 3
  12. 2026IndustryShapes: An RGB-D Benchmark dataset for 6D object pose estimation of industrial assembly components and toolscited by 1
5 more
  1. 20233 Dimensional Dense Reconstruction: A Review of Algorithms and Datasetcited by 0
  2. 2023Object Pose Estimation Annotation Pipeline for Multi-view Monocular Camera Systems in Industrial Settingscited by 0
  3. 2024RenDetNet: Weakly-supervised Shadow Detection with Shadow Caster Verificationcited by 0
  4. 2024GUMBEL-NERF: Representing Unseen Objects as Part-Compositional Neural Radiance Fieldscited by 0
  5. 2025Bridging the Ex-Vivo to In-Vivo Gap: Synthetic Priors for Monocular Depth Estimation in Specular Surgical Environmentscited by 0