2021 IEEE International Conference on Image Processing

19-22 September 2021 • Anchorage, Alaska, USA

Imaging Without Borders

2021 IEEE International Conference on Image Processing

19-22 September 2021 • Anchorage, Alaska, USA

Login Paper Search My Schedule Paper Index Help

My ICIP 2021 Schedule

Note: Your custom schedule will not be saved unless you create a new account or login to an existing account.
  1. Create a login based on your email (takes less than one minute)
  2. Perform 'Paper Search'
  3. Select papers that you desire to save in your personalized schedule
  4. Click on 'My Schedule' to see the current list of selected papers
  5. Click on 'Printable Version' to create a separate window suitable for printing (the header and menu will appear, but will not actually print)

Paper Detail

Paper IDMLR-APPL-IP-3.8
Paper Title OBJECT DETECTION AND AUTOENCODER-BASED 6D POSE ESTIMATION FOR HIGHLY CLUTTERED BIN PICKING
Authors Timon Höfer, Faranak Shamsafar, Nuri Benbarka, Andreas Zell, University of Tuebingen, Germany
SessionMLR-APPL-IP-3: Machine learning for image processing 3
LocationArea F
Session Time:Tuesday, 21 September, 08:00 - 09:30
Presentation Time:Tuesday, 21 September, 08:00 - 09:30
Presentation Poster
Topic Applications of Machine Learning: Machine learning for image processing
IEEE Xplore Open Preview  Click here to view in IEEE Xplore
Abstract 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 real dataset for object detection available with the paper.