“What’s This?” - Learning to Segment Unknown Objects from Manipulation Sequences
Wout Boerdijk Martin Sundermeyer Maximilian Durner Rudolph Triebel Wout Boerdijk Martin Sundermeyer Maximilian Durner Rudolph Triebel
We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by observing the motion between consecutive RGB frames. In contrast to previous approaches, we propose a single, end-to-end trainable architecture which jointly inc...