Stefan Thalhammer
YOU?
Author Swipe
View article: Methoden zur raschen Erkennung neuer Objekte in Farb- und Tiefenbildern
Methoden zur raschen Erkennung neuer Objekte in Farb- und Tiefenbildern Open
Zusammenfassung Dieser Artikel beleuchtet neue Entwicklungen in der Bildverarbeitung und Robotik. Dank Lernmethoden gibt es neue Lösungen für Probleme wie das Erkennen, Bestimmen der Pose und Greifen neuer, noch unbekannter Objekte. Mithil…
View article: SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Robotics
SCOPE: Semantic Conditioning for Sim2Real Category-Level Object Pose Estimation in Robotics Open
Object manipulation requires accurate object pose estimation. In open environments, robots encounter unknown objects, which requires semantic understanding in order to generalize both to known categories and beyond. To resolve this challen…
View article: OTAS: Open-vocabulary Token Alignment for Outdoor Segmentation
OTAS: Open-vocabulary Token Alignment for Outdoor Segmentation Open
Understanding open-world semantics is critical for robotic planning and control, particularly in unstructured outdoor environments. Existing vision-language mapping approaches typically rely on object-centric segmentation priors, which oft…
View article: Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection
Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection Open
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, the edges of clear objects have the highest contrast, whi…
View article: Diffusion Features for Zero-Shot 6DoF Object Pose Estimation
Diffusion Features for Zero-Shot 6DoF Object Pose Estimation Open
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 vision foundation models (VFM), which are pre-trained models tha…
View article: Towards full autonomy in mobile robot navigation and manipulation
Towards full autonomy in mobile robot navigation and manipulation Open
Robot autonomy is a key for automatizing industrial production plants, facilitating responsive search and rescue (SAR), and for interacting in urban settings. This work presents mobile systems capable of carrying out these tasks and summar…
View article: From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models
From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models Open
Robots are increasingly envisioned to interact in real-world scenarios, where they must continuously adapt to new situations. To detect and grasp novel objects, zero-shot pose estimators determine poses without prior knowledge. Recently, v…
View article: ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning
ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learning Open
Transparent objects are ubiquitous in daily life, making their perception and\nrobotics manipulation important. However, they present a major challenge due to\ntheir distinct refractive and reflective properties when it comes to accurately…
View article: UGV-CBRN: An Unmanned Ground Vehicle for Chemical, Biological, Radiological, and Nuclear Disaster Response
UGV-CBRN: An Unmanned Ground Vehicle for Chemical, Biological, Radiological, and Nuclear Disaster Response Open
Robotic search and rescue (SAR) supports response teams by accelerating disaster assessment and by keeping operators away from hazardous environments. In the event of a chemical, biological, radiological, and nuclear (CBRN) disaster, robot…
View article: Challenges of Depth Estimation for Transparent Objects
Challenges of Depth Estimation for Transparent Objects Open
Transparent objects and surfaces are pervasive in man-made environments and need to be considered in any vision system. Accurate depth data is a key factor for the reliability of such systems, requiring methods tailored for transparency to…
View article: Improving 2D-3D Dense Correspondences with Diffusion Models for 6D Object Pose Estimation
Improving 2D-3D Dense Correspondences with Diffusion Models for 6D Object Pose Estimation Open
Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The accura…
View article: Shape-biased Texture Agnostic Representations for Improved Textureless and Metallic Object Detection and 6D Pose Estimation
Shape-biased Texture Agnostic Representations for Improved Textureless and Metallic Object Detection and 6D Pose Estimation Open
Recent advances in machine learning have greatly benefited object detection and 6D pose estimation. However, textureless and metallic objects still pose a significant challenge due to few visual cues and the texture bias of CNNs. To addres…
View article: Diffusion Features for Zero-Shot 6dof Object Pose Estimation
Diffusion Features for Zero-Shot 6dof Object Pose Estimation Open
View article: ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformers
ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformers Open
As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore…
View article: Erkennung transparenter Objekte für die Laborautomatisierung
Erkennung transparenter Objekte für die Laborautomatisierung Open
View article: Self-supervised Vision Transformers for 3D pose estimation of novel objects
Self-supervised Vision Transformers for 3D pose estimation of novel objects Open
Object pose estimation is important for object manipulation and scene understanding. In order to improve the general applicability of pose estimators, recent research focuses on providing estimates for novel objects, that is, objects unsee…
View article: Challenges for Monocular 6D Object Pose Estimation in Robotics
Challenges for Monocular 6D Object Pose Estimation in Robotics Open
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this mod…
View article: Self-supervised Vision Transformers for 3D Pose Estimation of Novel Objects
Self-supervised Vision Transformers for 3D Pose Estimation of Novel Objects Open
Object pose estimation is important for object manipulation and scene understanding. In order to improve the general applicability of pose estimators, recent research focuses on providing estimates for novel objects, that is objects unseen…
View article: Open Challenges for Monocular Single-shot 6D Object Pose Estimation
Open Challenges for Monocular Single-shot 6D Object Pose Estimation Open
Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise o…
View article: Self-Supervised Vision Transformers for 3d Pose Estimation of Novel Objects
Self-Supervised Vision Transformers for 3d Pose Estimation of Novel Objects Open
View article: Grasping the Inconspicuous
Grasping the Inconspicuous Open
Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of transp…
View article: COPE: End-to-end trainable Constant Runtime Object Pose Estimation
COPE: End-to-end trainable Constant Runtime Object Pose Estimation Open
State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction …
View article: GaN Heterostructures as Innovative X-ray Imaging Sensors—Change of Paradigm
GaN Heterostructures as Innovative X-ray Imaging Sensors—Change of Paradigm Open
Direct conversion of X-ray irradiation using a semiconductor material is an emerging technology in medical and material sciences. Existing technologies face problems, such as sensitivity or resilience. Here, we describe a novel class of X-…
View article: PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation under Domain Shift
PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation under Domain Shift Open
Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…
View article: Usability Study of Learning-Based Pose Estimation of Industrial Objects from Synthetic Depth Data
Usability Study of Learning-Based Pose Estimation of Industrial Objects from Synthetic Depth Data Open
For visual assistance systems deployed in an industrial setting, precise object pose estimation is an important task in order to support scene understanding and to enable subsequent grasping and manipulation. Industrial environments are es…
View article: PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation\n under Domain Shift
PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation\n under Domain Shift Open
Object pose estimation enables robots to understand and interact with their\nenvironments. Training with synthetic data is necessary in order to adapt to\nnovel situations. Unfortunately, pose estimation under domain shift, i.e.,\ntraining…