Search Results for author: Chaitanya Mitash

Found 12 papers, 5 papers with code

Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains

1 code implementation29 May 2021 Bowen Wen, Chaitanya Mitash, Kostas Bekris

This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking.

Pose Tracking

Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses

no code implementations11 Aug 2020 Rui Wang, Chaitanya Mitash, Shiyang Lu, Daniel Boehm, Kostas E. Bekris

This work proposes first a perception process for 6D pose estimation, which returns a discrete distribution of object poses in a scene.

6D Pose Estimation

Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects

no code implementations28 Jun 2020 Chaitanya Mitash, Rahul Shome, Bowen Wen, Abdeslam Boularias, Kostas Bekris

The effectiveness of the proposed approach is demonstrated by developing a robotic system that picks a previously unseen object from a table-top and places it in a constrained space.


That and There: Judging the Intent of Pointing Actions with Robotic Arms

1 code implementation13 Dec 2019 Malihe Alikhani, Baber Khalid, Rahul Shome, Chaitanya Mitash, Kostas Bekris, Matthew Stone

This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by extending existing models from the related literature.

Common Sense Reasoning

Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects

no code implementations11 Oct 2019 Chaitanya Mitash, Bowen Wen, Kostas Bekris, Abdeslam Boularias

To evaluate this method, a dataset of densely packed objects with challenging setups for state-of-the-art approaches is collected.

6D Pose Estimation

Physics-based Scene-level Reasoning for Object Pose Estimation in Clutter

no code implementations25 Jun 2018 Chaitanya Mitash, Abdeslam Boularias, Kostas Bekris

This work proposes an autonomous process for pose estimation that spans from data generation to scene-level reasoning and self-learning.

Object Detection Object Recognition +1

Learning Object Localization and 6D Pose Estimation from Simulation and Weakly Labeled Real Images

no code implementations18 Jun 2018 Jean-Philippe Mercier, Chaitanya Mitash, Philippe Giguère, Abdeslam Boularias

We then show that the performance of the detector can be substantially improved by using a small set of weakly annotated real images, where a human provides only a list of objects present in each image without indicating the location of the objects.

6D Pose Estimation 6D Pose Estimation using RGB +3

Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search

no code implementations24 Oct 2017 Chaitanya Mitash, Abdeslam Boularias, Kostas E. Bekris

Experimental results indicate that this process is able to quickly identify in cluttered scenes physically-consistent object poses that are significantly closer to ground truth compared to poses found by point cloud registration methods.

6D Pose Estimation 6D Pose Estimation using RGB +3

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