تقرير
EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation
| العنوان: | EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation |
|---|---|
| المؤلفون: | Alt, Benjamin, Nguyen, Minh Dang, Hermann, Andreas, Katic, Darko, Jäkel, Rainer, Dillmann, Rüdiger, Sax, Eric |
| المصدر: | ISR Europe 2023 |
| سنة النشر: | 2023 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Computer Science - Artificial Intelligence, Computer Science - Computer Vision and Pattern Recognition, Computer Science - Machine Learning, 68T45, I.4.6, I.2.10, I.2.9 |
| الوصف: | The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and im-prove patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses signif-icant challenges to vision-based perception systems. We present EfficientPPS, a neural architecture for part-aware panoptic segmentation that provides robots with semantically rich visual information for grasping and ma-nipulation tasks. We also present an unsupervised data collection and labelling method to reduce the need for human involvement in the training process. EfficientPPS is evaluated on a dataset containing real-world hospital objects and demonstrated to be robust and efficient in grasping transparent transfusion bags with a collaborative robot arm. Comment: 8 pages, 8 figures, presented at the 56th International Symposium on Robotics (ISR Europe) |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2312.13906 |
| رقم الأكسشن: | edsarx.2312.13906 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |