CARTO: カテゴリと関節に依存しない多関節物体の再構成
CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objects
単一のステレオRGB画像から複数の多関節物体の3D形状・姿勢・関節状態を一度に推定する手法を提案。カテゴリ横断的な学習を可能にし、実世界への転移も実現した。
著者: Nick Heppert, Muhammad Zubair Irshad, Sergey Zakharov, Katherine Liu, Rares Andrei Ambrus, Jeannette Bohg, Abhinav Valada, Thomas Kollar
分類: cs.CV, cs.RO
原文アブストラクト
We present CARTO, a novel approach for reconstructing multiple articulated objects from a single stereo RGB observation. We use implicit object-centric representations and learn a single geometry and articulation decoder for multiple object categories. Despite training on multiple categories, our decoder achieves a comparable reconstruction accuracy to methods that train bespoke decoders separately for each category. Combined with our stereo image encoder we infer the 3D shape, 6D pose, size, joint type, and the joint state of multiple unknown objects in a single forward pass. Our method achieves a 20.4% absolute improvement in mAP 3D IOU50 for novel instances when compared to a two-stage pipeline. Inference time is fast and can run on a NVIDIA TITAN XP GPU at 1 HZ for eight or less objects present. While only trained on simulated data, CARTO transfers to real-world object instances. Code and evaluation data is available at: http://carto.cs.uni-freiburg.de
