Rapid Pose Label Generation through Sparse Representation of Unknown Objects
Rohan P. Singh Mehdi Benallegue Yusuke Yoshiyasu Fumio Kanehiro Rohan P. Singh Mehdi Benallegue Yusuke Yoshiyasu Fumio Kanehiro
Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a difficult task - exacerbated if the object is novel and a 3D model is unavailable. To this end, this work presents an approach for rapidly generating real-world, p...