Abstract:The detection and pose estimation of objects in human demonstrations remain challenging yet crucial tasks. The increasing availability of red-green-blue and depth sensors makes it possible to synthetize local features of color and three-dimensional (3D) geometry, which are useful for processing a wider range of objects. However, existing methods fail to combine the inherent advantages of these two features. Moreover, pose refinement methods based on whole point clouds are often affected by occlusion and backgr… Show more
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