mlsanityData to 14 Oct 2026

Object detection and Autoencoder-based 6D pose estimation for highly cluttered Bin Picking

arXiv 2106.08045 ↗First posted 15 Jun 2021cs.CVcited by 4

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Abstract (arXiv)

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework for pose estimation in highly cluttered scenes with small objects, which mainly relies on RGB data and makes use of depth information only for pose refinement. In this work, we compare synthetic data generation approaches for object detection and pose estimation and introduce a pose filtering algorithm that determines the most accurate estimated poses. We will make our

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 16 of its 24 references that are in the map. First posted on arXiv 15 Jun 2021.

Builds on

16 of 24 references.

References · 16

  1. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,639
  2. 2017Mask R-CNNcited by 7,277
  3. 2015SSD: Single Shot MultiBox Detectorcited by 3,130
  4. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,498
  5. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  6. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  7. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  8. 2017T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objectscited by 210
  9. 2020BOP Challenge 2020 on 6D Object Localizationcited by 193
  10. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 101
  11. 2019BlenderProccited by 77
  12. 2017SegICP: Integrated Deep Semantic Segmentation and Pose Estimationcited by 29
4 more
  1. 2019Learning to Augment Synthetic Images for Sim2Real Policy Transfercited by 16
  2. 20186D Pose Estimation using an Improved Method based on Point Pair Featurescited by 11
  3. 2019Pose estimation and bin picking for deformable productscited by 2
  4. 2016Point Pair Feature based Object Detection for Random Bin Pickingcited by 1

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Cited by year

Citing papers per year: 2021: 1; 2022: 1; 2023: 2.

4 papers.

  1. 2023Stable Yaw Estimation of Boats from the Viewpoint of UAVs and USVscited by 4
  2. 2022A survey of top-down approaches for human pose estimationcited by 3
  3. 2023Industrial Application of 6D Pose Estimation for Robotic Manipulation in Automotive Internal Logisticscited by 3
  4. 2021Bottom-up approaches for multi-person pose estimation and it's applications: A brief reviewcited by 2