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

21 Jan 2020  ·  , , , ·

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'... To achieve this, we extend an existing instance segmentation model with a novel relook' architecture, in which the model explicitly learns the inter-instance relationship. Also, by using image synthesis, we make the system capable of handling new objects without human annotations. The experimental results show the effectiveness of the relook architecture when compared with a conventional model and of the image synthesis when compared to a human-annotated dataset. We also demonstrate the capability of our system to achieve picking a target in a cluttered environment with a real robot. read more

PDF Abstract

## Code Add Remove Mark official

No code implementations yet. Submit your code now

## Datasets

Add Datasets introduced or used in this paper

## Results from the Paper Edit

Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.