TY - GEN A1 - Li, Huajian A1 - Kraljevski, Ivan A1 - Meyer, Paul A1 - Tschöpe, Constanze A1 - Wolff, Matthias T1 - YOLO-ICP : deep learning integrated pose estimation for bin-picking of multiple objects T2 - 2024 IEEE SENSORS, Proceedings, Kobe, Japan, 2024 N2 - In this paper, we present a novel deep learning-integrated pipeline called YOLO-ICP that aims to estimate the six degree of freedom (6-DoF) pose of objects using RGB-D sensors and does not require pose labels to train deep learning networks. YOLO-ICP integrates a real-time object detection algorithm with a point cloud registration method to estimate the pose of multiple objects. We evaluated our approach by quantitatively comparing it with baseline models on the OccludedLINEMOD dataset. Experimental results illustrate that our approach outperforms baseline models in challenging scenarios with textureless and occluded objects. In particular, our pipeline shows superior performance when dealing with small and symmetric objects in terms of the ADD(-S) metric. KW - Pose estimation KW - Deep learning KW - CAD KW - Point cloud KW - Bin-picking KW - RGB-D camera Y1 - 2024 SN - 979-8-3503-6351-7 U6 - https://doi.org/10.1109/SENSORS60989.2024.10784539 SP - 1 EP - 4 PB - Institute of Electrical and Electronics Engineers (IEEE) CY - Piscataway, New Jersey ER - TY - CHAP A1 - Tschöpe, Constanze A1 - Duckhorn, Frank A1 - Huber, Markus A1 - Meyer, Werner A1 - Wolff, Matthias ED - Karpov, Alexey ED - Jokisch, Oliver ED - Potapova, Rodmonga T1 - A Cognitive User Interface for a Multi-Modal Human-Machine Interaction T2 - Speech and computer : 20th International Conference, SPECOM 2018, Leipzig, Germany, September 18-22, 2018, proceedings Y1 - 2018 UR - https://link.springer.com/chapter/10.1007/978-3-319-99579-3_72 SN - 978-3-319-99578-6 U6 - https://doi.org/10.1007/978-3-319-99579-3 SP - 707 EP - 717 PB - Springer International Publishing CY - Cham ER - TY - GEN A1 - Duckhorn, Frank A1 - Huber, Markus A1 - Meyer, Werner A1 - Jokisch, Oliver A1 - Tschöpe, Constanze A1 - Wolff, Matthias ED - Lacerda, Francisco T1 - Towards an Autarkic Embedded Cognitive User Interface T2 - Proceedings Interspeech 2017, 20-24 August 2017, Stockholm N2 - ucuikt2015 Y1 - 2017 UR - http://www.isca-speech.org/archive/Interspeech_2017/ U6 - https://doi.org/10.21437/Interspeech.2017 SP - 3435 EP - 3436 PB - ISCA ER -