単一画像から関節物体の部位と関節機構を推定するFormNet
Visual Identification of Articulated Object Parts
RGB-D画像1枚とセグメンテーションマスクから、物体部位間の関節の種類とパラメータを予測するニューラルネットワークFormNetを提案し、実画像にも汎化できることを示した。
著者: Vicky Zeng, Tabitha Edith Lee, Jacky Liang, Oliver Kroemer
分類: cs.RO
原文アブストラクト
As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation identification require manipulation of the object, either by the robot or a human. While recent works have addressed predicting articulation types from visual observations alone, they often assume prior knowledge of category-level kinematic motion models or sequence of observations where the articulated parts are moving according to their kinematic constraints. In this work, we propose FormNet, a neural network that identifies the articulation mechanisms between pairs of object parts from a single frame of an RGB-D image and segmentation masks. The network is trained on 100k synthetic images of 149 articulated objects from 6 categories. Synthetic images are rendered via a photorealistic simulator with domain randomization. Our proposed model predicts motion residual flows of object parts, and these flows are used to determine the articulation type and parameters. The network achieves an articulation type classification accuracy of 82.5% on novel object instances in trained categories. Experiments also show how this method enables generalization to novel categories and be applied to real-world images without fine-tuning.
