| Presentation | 2019-03-01 Point cloud deep learning for estimating 3-D rigid body transformation Yukihiro Toda, Naoya Chiba, Koichi Hashimoto, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | 6D pose estimation is an important task in the research field of robot vision. Pose estimation is used in picking task in industrial scene. Not only 2D image processing but 3D object recognition, deep learning method has been developed. Some dataset of 3D models which is made for classification or segmentation task is released. These datasets contain multiple object but single object, target of picking, isn't contained. In pose estimation task, dataset of scene consisting of the target object is necessary. In this paper we design a neural network for pose estimation and a system generating dataset to feed the network. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | 3D Point Cloud / Deep Learning / Computer Vision / Point Cloud Deep Learning |
| Paper # | PRMU2018-123,CNR2018-46 |
| Date of Issue | 2019-02-21 (PRMU, CNR) |
| Conference Information | |
| Committee | PRMU / CNR |
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| Conference Date | 2019/2/28(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Shinichi Sato(NII) / Tetsuo Ono(Hokkaido Univ.) |
| Vice Chair | Yoshihisa Ijiri(Omron) / Toru Tamaki(Hiroshima Univ.) / Masayuki Kanbara(NAIST) / Kazunori Takashio(Keio Univ.) |
| Secretary | Yoshihisa Ijiri(NEC) / Toru Tamaki(Osaka Univ.) / Masayuki Kanbara(Hokkaido Univ.) / Kazunori Takashio(Panasonic) |
| Assistant | Go Irie(NTT) / Yoshitaka Ushiku(Univ. of Tokyo) / Wataru Mito(SECOM) / Yuka Kobayashi(Toshiba) / Tatsuya Ishihara(NTT) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Cloud Network Robotics |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Point cloud deep learning for estimating 3-D rigid body transformation |
| Sub Title (in English) | |
| Keyword(1) | 3D Point Cloud |
| Keyword(2) | Deep Learning |
| Keyword(3) | Computer Vision |
| Keyword(4) | Point Cloud Deep Learning |
| 1st Author's Name | Yukihiro Toda |
| 1st Author's Affiliation | Tohoku University(Tohoku Univ.) |
| 2nd Author's Name | Naoya Chiba |
| 2nd Author's Affiliation | Tohoku University(Tohoku Univ.) |
| 3rd Author's Name | Koichi Hashimoto |
| 3rd Author's Affiliation | Tohoku University(Tohoku Univ.) |
| Date | 2019-03-01 |
| Paper # | PRMU2018-123,CNR2018-46 |
| Volume (vol) | vol.118 |
| Number (no) | PRMU-459,CNR-460 |
| Page | pp.pp.49-52(PRMU), pp.49-52(CNR), |
| #Pages | 4 |
| Date of Issue | 2019-02-21 (PRMU, CNR) |