Instance Segmentation of Visible and Occluded Regions for Finding and Picking Target from a Pile of Objects

21 Jan 2020Kentaro WadaShingo KitagawaKei OkadaMasayuki Inaba

We present a robotic system for picking a target from a pile of objects that is capable of finding and grasping the target object by removing obstacles in the appropriate order. The fundamental idea is to segment instances with both visible and occluded masks, which we call `instance occlusion segmentation'... (read more)

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