| Presentation | 2019-12-20 Occlusion-Robust Pose-Feature Representation Learning for Object Pose Estimation from a Depth Image Hiroki Tatemichi, Yasutomo Kawanishi, Daisuke Deguchi, Ichiro Ide, Hiroshi Murase, Ayako Amma, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In order for a robot to carry an object, it is necessary to estimate the pose of the object. However, when an object is occluded by other objects, the observation is partially lost and the object center is shifted in the cropped depth image. Therefore, the pose estimation of an occluded object is difficult. In the proposed method, we realize the pose estimation from the pose representation obtained by de-occluding and centerizing the object in the image via AutoEncoder that have been trained so as to de-occlude it. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Depth Image / Occlusion / Object Pose Estimation / AutoEncoder |
| Paper # | PRMU2019-62 |
| Date of Issue | 2019-12-12 (PRMU) |
| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2019/12/19(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Yoichi Sato(Univ. of Tokyo) |
| Vice Chair | Toru Tamaki(Hiroshima Univ.) / Akisato Kimura(NTT) |
| Secretary | Toru Tamaki(NTT) / Akisato Kimura(OMRON SINICX) |
| Assistant | Yusuke Uchida(DeNA) / Takayoshi Yamashita(Chubu Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Occlusion-Robust Pose-Feature Representation Learning for Object Pose Estimation from a Depth Image |
| Sub Title (in English) | |
| Keyword(1) | Depth Image |
| Keyword(2) | Occlusion |
| Keyword(3) | Object Pose Estimation |
| Keyword(4) | AutoEncoder |
| 1st Author's Name | Hiroki Tatemichi |
| 1st Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 2nd Author's Name | Yasutomo Kawanishi |
| 2nd Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 3rd Author's Name | Daisuke Deguchi |
| 3rd Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 4th Author's Name | Ichiro Ide |
| 4th Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 5th Author's Name | Hiroshi Murase |
| 5th Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 6th Author's Name | Ayako Amma |
| 6th Author's Affiliation | Toyota Motor Corporation(Toyota) |
| Date | 2019-12-20 |
| Paper # | PRMU2019-62 |
| Volume (vol) | vol.119 |
| Number (no) | PRMU-347 |
| Page | pp.pp.99-104(PRMU), |
| #Pages | 6 |
| Date of Issue | 2019-12-12 (PRMU) |