mlsanityData to 7 Oct 2026

Unseen Object Amodal Instance Segmentation via Hierarchical Occlusion Modeling

arXiv 2109.11103 ↗First posted 23 Sep 2021cs.RO cs.CVcited by 43

Not on the map. Why?

Abstract (arXiv)

Instance-aware segmentation of unseen objects is essential for a robotic system in an unstructured environment. Although previous works achieved encouraging results, they were limited to segmenting the only visible regions of unseen objects. For robotic manipulation in a cluttered scene, amodal perception is required to handle the occluded objects behind others. This paper addresses Unseen Object Amodal Instance Segmentation (UOAIS) to detect 1) visible masks, 2) amodal masks, and 3) occlusions on unseen object instances. For this, we propose a Hierarchical Occlusion Modeling (HOM) scheme designed to reason about the occlusion by assigning a hierarchy to a feature fusion and prediction order. We evaluated our method on three benchmarks (tabletop, indoors, and bin environments) and achieved state-of-the-art (SOTA) performance. Robot demos for picking up occluded objects, codes, and datasets are available at https://sites.google.com/view/uoais

Key facts. Cited by 43 papers in the map (data through 7 Oct 2026). Builds on 39 of its 61 references that are in the map. First posted on arXiv 23 Sep 2021.

Builds on

39 of 61 references.

References · 39

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  3. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  4. 2017Mask R-CNNcited by 7,259
  5. 2015SSD: Single Shot MultiBox Detectorcited by 3,125
  6. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
  7. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  8. 2019Hybrid Task Cascade for Instance Segmentationcited by 479
  9. 2019SOLO: Segmenting Objects by Locationscited by 289
  10. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 213
  11. 2019CenterMask : Real-Time Anchor-Free Instance Segmentationcited by 200
  12. 2020BOP Challenge 2020 on 6D Object Localizationcited by 192
27 more
  1. 2021Deep Occlusion-Aware Instance Segmentation with Overlapping BiLayerscited by 104
  2. 2015Semantic Amodal Segmentationcited by 102
  3. 2018CGNet: A Light-weight Context Guided Network for Semantic Segmentationcited by 94
  4. 2020Unseen Object Instance Segmentation for Robotic Environmentscited by 85
  5. 2019BlenderProccited by 76
  6. 20196-DOF Grasping for Target-driven Object Manipulation in Cluttercited by 70
  7. 2020Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentationcited by 64
  8. 2016Amodal Instance Segmentationcited by 63
  9. 2018Learning to See the Invisible: End-to-End Trainable Amodal Instance Segmentationcited by 62
  10. 2019EasyLabel: A Semi-Automatic Pixel-wise Object Annotation Tool for Creating Robotic RGB-D Datasetscited by 58
  11. 2019Towards Segmenting Anything That Movescited by 51
  12. 2019S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenescited by 51
  13. 2020Amodal Segmentation Based on Visible Region Segmentation and Shape Priorcited by 42
  14. 2019The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentationcited by 39
  15. 2020Seeing the Un-Scene: Learning Amodal Semantic Maps for Room Navigationcited by 34
  16. 2018Feature Pyramid Network for Multi-Class Land Segmentationcited by 24
  17. 2021Unknown Object Segmentation from Stereo Imagescited by 16
  18. 2020Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivitycited by 15
  19. 2020Joint Learning of Instance and Semantic Segmentation for Robotic Pick-and-Place with Heavy Occlusions in Cluttercited by 12
  20. 2017SceneCut: Joint Geometric and Object Segmentation for Indoor Scenescited by 9
  21. 2018Keep it Unreal: Bridging the Realism Gap for 2.5D Recognition with Geometry Priors Onlycited by 9
  22. 2020Instance Segmentation of Visible and Occluded Regions for Finding and Picking Target from a Pile of Objectscited by 8
  23. 2020X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributionscited by 7
  24. 2020Segmenting Unseen Industrial Components in a Heavy Clutter Using RGB-D Fusion and Synthetic Datacited by 6
  25. 2019Inferring Occluded Geometry Improves Performance when Retrieving an Object from Dense Cluttercited by 4
  26. 2021Robotic Occlusion Reasoning for Efficient Object Existence Predictioncited by 4
  27. 2020Acceleration of Actor-Critic Deep Reinforcement Learning for Visual Grasping in Clutter by State Representation Learning Based on Disentanglement of a Raw Input Imagecited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 10; 2024: 13; 2025: 10; 2026: 4.

43 papers.

Sort:

By area:

  1. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  2. 2022Mean Shift Mask Transformer for Unseen Object Instance Segmentationcited by 19
  3. 2023DoNet: Deep De-overlapping Network for Cytology Instance Segmentationcited by 16
  4. 2022MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesiscited by 13
  5. 2023Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interactioncited by 10
  6. 2022Unseen Object Instance Segmentation with Fully Test-time RGB-D Embeddings Adaptationcited by 8
  7. 2025GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenescited by 8
  8. 2023Fast GraspNeXt: A Fast Self-Attention Neural Network Architecture for Multi-task Learning in Computer Vision Tasks for Robotic Grasping on the Edgecited by 7
  9. 2024ShapeFormer: Shape Prior Visible-to-Amodal Transformer-based Amodal Instance Segmentationcited by 6
  10. 2024Occlusion-Aware Seamless Segmentationcited by 6
  11. 2023Occ2Net: Robust Image Matching Based on 3D Occupancy Estimation for Occluded Regionscited by 5
  12. 2024Amodal Instance Segmentation with Diffusion Shape Prior Estimationcited by 5
31 more
  1. 2025ZISVFM: Zero-Shot Object Instance Segmentation in Indoor Robotic Environments with Vision Foundation Modelscited by 5
  2. 2022SupeRGB-D: Zero-shot Instance Segmentation in Cluttered Indoor Environmentscited by 4
  3. 2024RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Featurescited by 4
  4. 2024Believing is Seeing: Unobserved Object Detection using Generative Modelscited by 4
  5. 2023DoUnseen: Tuning-Free Class-Adaptive Object Detection of Unseen Objects for Robotic Graspingcited by 3
  6. 2025Unveiling the Invisible: Reasoning Complex Occlusions Amodally with AURAcited by 3
  7. 2025Unlocking Constraints: Source-Free Occlusion-Aware Seamless Segmentationcited by 3
  8. 2026LIBERO-Occ: Evaluating and Improving Vision-Language-Action Models under Scene-Induced Occlusion via Viewpoint Imaginationcited by 3
  9. 2023NutritionVerse: Empirical Study of Various Dietary Intake Estimation Approachescited by 2
  10. 2024Language-driven Grasp Detection with Mask-guided Attentioncited by 2
  11. 2024LAC-Net: Linear-Fusion Attention-Guided Convolutional Network for Accurate Robotic Grasping Under the Occlusioncited by 2
  12. 2023Amodal Intra-class Instance Segmentation: Synthetic Datasets and Benchmarkcited by 1
  13. 2023High-Quality Unknown Object Instance Segmentation via Quadruple Boundary Error Refinementcited by 1
  14. 2023SynTable: A Synthetic Data Generation Pipeline for Unseen Object Amodal Instance Segmentation of Cluttered Tabletop Scenescited by 1
  15. 2024Robust Analysis of Multi-Task Learning Efficiency: New Benchmarks on Light-Weighed Backbones and Effective Measurement of Multi-Task Learning Challenges by Feature Disentanglementcited by 1
  16. 2024Sequential Amodal Segmentation via Cumulative Occlusion Learningcited by 1
  17. 2024Hyper-Transformer for Amodal Completioncited by 1
  18. 2024Foundation Models for Amodal Video Instance Segmentation in Automated Drivingcited by 1
  19. 2024Adapting Segment Anything Model for Unseen Object Instance Segmentationcited by 1
  20. 2025rt-RISeg: Real-Time Model-Free Robot Interactive Segmentation for Active Instance-Level Object Understandingcited by 1
  21. 2025Shape Distribution Matters: Shape-specific Mixture-of-Experts for Amodal Segmentation under Diverse Occlusionscited by 1
  22. 2025CObL: Toward Zero-Shot Ordinal Layering without User Promptingcited by 1
  23. 2025Stable Diffusion-Based Approach for Human De-Occlusioncited by 1
  24. 2025Obstruction reasoning for robotic graspingcited by 1
  25. 2025ViTA-Seg: Vision Transformer for Amodal Segmentation in Roboticscited by 1
  26. 2026Learnable Shape Prototypes with Occlusion-Geometry-Guided Injection for Amodal Instance Segmentationcited by 1
  27. 2022MMRNet: Improving Reliability for Multimodal Object Detection and Segmentation for Bin Picking via Multimodal Redundancycited by 0
  28. 2023SKU-Patch: Towards Efficient Instance Segmentation for Unseen Objects in Auto-Storecited by 0
  29. 2024Hybrid Deep Learning-Based for Enhanced Occlusion Segmentation in PICU Patient Monitoringcited by 0
  30. 2026DA-Fusion: Deformable Attention-Based RGB-D Fusion Transformer for Unseen Object Instance Segmentationcited by 0
  31. 2026Seg2Grasp: A Robust Modular Suction Grasping in Bin Pickingcited by 0