Polarimetric Pose Prediction

Gao, Daoyi; Li, Yitong; Ruhkamp, Patrick; Skobleva, Iuliia; Wysock, Magdalena; Jung, HyunJun; Wang, Pengyuan; Guridi, Arturo; Navab, Nassir; Busam, Benjamin

doi:10.1007/978-3-031-20077-9_43

Cited by 21 publications

(5 citation statements)

References 55 publications

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“…With this additional information, only two corresponding points in two views are required to estimate the rotation matrix and the translation vector. In the same direction, Gao et al 52 proposed a data-driven algorithm to find the pose transformation of an object in the image with respect to the camera coordinate frame. The algorithm uses three ambiguous normals as inputs to one encoder, and the polarization parameters into another.…”

Section: Pose Estimationmentioning

confidence: 99%

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Pola4All: survey of polarimetric applications and an open-source toolkit to analyze polarization

Rodriguez,

Lew-Yan-Voon,

Martins

et al. 2024

J. Electron. Imag.

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Polarization information of the light can provide rich cues for computer vision and scene understanding tasks, such as the type of material, pose, and shape of the objects. With the advent of new and cheap polarimetric sensors, this imaging modality is becoming accessible to a wider public for solving problems, such as pose estimation, 3D reconstruction, underwater navigation, and depth estimation. However, we observe several limitations regarding the usage of this sensorial modality, as well as a lack of standards and publicly available tools to analyze polarization images. Furthermore, although polarization camera manufacturers usually provide acquisition tools to interface with their cameras, they rarely include processing algorithms that make use of the polarization information. In this work, we review recent advances in applications that involve polarization imaging, including a comprehensive survey of recent advances on polarization for vision and robotics perception tasks. We also introduce a complete software toolkit that provides common standards to communicate with and process information from most of the existing micro-grid polarization cameras on the market. The toolkit also implements several image processing algorithms for this modality, and it is publicly available on GitHub.

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Section: Pose Estimationmentioning

confidence: 99%

“…For example, in Ref. 52, only the position of one object can be done each time, whereas others adopt known object materials and physical properties. Furthermore, most algorithms only consider one type of reflection (either diffuse or specular), which limit their generalization to any type of scene.…”

Section: Related Workmentioning

confidence: 99%

Pola4All: survey of polarimetric applications and an open-source toolkit to analyze polarization

Rodriguez,

Lew-Yan-Voon,

Martins

et al. 2024

J. Electron. Imag.

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show abstract

“…High reflections and transparency objects are handled in Ref. [ 327 ]. They developed a network called PPP-net (Pose Polarimetric Prediction Network) that uses a two step framework.…”

Section: Polarized Vision For Scene Understandingmentioning

confidence: 99%

Passive Polarized Vision for Autonomous Vehicles: A Review

Serres,

Lapray,

Viollet

et al. 2024

Sensors

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This review article aims to address common research questions in passive polarized vision for robotics. What kind of polarization sensing can we embed into robots? Can we find our geolocation and true north heading by detecting light scattering from the sky as animals do? How should polarization images be related to the physical properties of reflecting surfaces in the context of scene understanding? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying future directions in passive polarized vision for robotics. After an introduction, three key interconnected areas will be covered in the following sections: embedded polarization imaging; polarized vision for robotics navigation; and polarized vision for scene understanding. We will then discuss how polarized vision, a type of vision commonly used in the animal kingdom, should be implemented in robotics; this type of vision has not yet been exploited in robotics service. Passive polarized vision could be a supplemental perceptive modality of localization techniques to complement and reinforce more conventional ones.

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“…[13] uses the fully supervised learningbased approach, and photo-realistic renderings are used to reduce the domain gap between the training and inference. [14] introduces a differentiable Perspective-n-Point (PnP) algorithm to facilitate fully end-to-end learning [15], and focus on photometrically challenging objects [16] with polarimetric information and physical cues.…”

Section: Related Workmentioning

confidence: 99%

Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge

Wittmann

Pachler

Ruhkamp³

et al. 2022

2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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Up to now, many repetitive industrial processes, like welding in automotive, have been automated. However, robust solutions for assembly operations that, besides precise robot positioning, also require precise tactile interaction are not available yet. The current research efforts on sensitive collaborative robots and their control are a promising step towards assembly automation. In our contribution we present an autonomous robotic framework to automate assembly tasks. It implements state-ofthe-art algorithms for object localization, motion planning, force control, error handling and task scheduling. We present the implementation details of our localization and insertion skills on a FRANKA EMIKA robot and an Intel RealSense, the two main components of the framework. Further, we introduce the Robothon Grand Challenge, a new biennial competition series that deals with automated electronic waste decomposition. Within that competition, our framework made the fifth place out of nine teams.

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Polarimetric Pose Prediction

Cited by 21 publications

References 55 publications

Pola4All: survey of polarimetric applications and an open-source toolkit to analyze polarization

Pola4All: survey of polarimetric applications and an open-source toolkit to analyze polarization

Passive Polarized Vision for Autonomous Vehicles: A Review

Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge

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