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Paper Abstract and Keywords
Presentation 2020-12-18 16:30
Estimating 3D regions for grasping an object
Atsuki Tsukamoto, Kiyoshi Kogure (KIT) PRMU2020-65
Abstract (in Japanese) (See Japanese page) 
(in English) This paper proposes a method for estimating 3D regions for object grasping. The method takes as its inputs two RGB images, each from one of two stereo cameras, and translates them into object grasping region images, from which it estimates 3D object grasping regions based on stereo matching. The translation is conducted using fully convolutional networks. The method has been evaluated experimentally with four kinds of fully convolutional network models, that is, two kinds of single task models and two kinds of multi-task models, each with object region estimation task as its auxiliary task. The experimental results show that the proposed method can estimate 3D regions for object grasping for all of these four kinds of models.
Keyword (in Japanese) (See Japanese page) 
(in English) object grasping / fully convolutional network / multi-task learning / / / / /  
Reference Info. IEICE Tech. Rep., vol. 120, no. 300, PRMU2020-65, pp. 156-160, Dec. 2020.
Paper # PRMU2020-65 
Date of Issue 2020-12-10 (PRMU) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee PRMU  
Conference Date 2020-12-17 - 2020-12-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Online 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Transfer learning and few shot learning 
Paper Information
Registration To PRMU 
Conference Code 2020-12-PRMU 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Estimating 3D regions for grasping an object 
Sub Title (in English)  
Keyword(1) object grasping  
Keyword(2) fully convolutional network  
Keyword(3) multi-task learning  
1st Author's Name Atsuki Tsukamoto  
1st Author's Affiliation Kanazawa Institute of Technology (KIT)
2nd Author's Name Kiyoshi Kogure  
2nd Author's Affiliation Kanazawa Institute of Technology (KIT)
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Date Time 2020-12-18 16:30:00 
Presentation Time 15 
Registration for PRMU 
Paper # IEICE-PRMU2020-65 
Volume (vol) IEICE-120 
Number (no) no.300 
Page pp.156-160 
#Pages IEICE-5 
Date of Issue IEICE-PRMU-2020-12-10 

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