학술논문
EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation
Document Type
Working Paper
Author
Source
ISR Europe 2023
Subject
Language
Abstract
The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and im-prove patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses signif-icant challenges to vision-based perception systems. We present EfficientPPS, a neural architecture for part-aware panoptic segmentation that provides robots with semantically rich visual information for grasping and ma-nipulation tasks. We also present an unsupervised data collection and labelling method to reduce the need for human involvement in the training process. EfficientPPS is evaluated on a dataset containing real-world hospital objects and demonstrated to be robust and efficient in grasping transparent transfusion bags with a collaborative robot arm.
Comment: 8 pages, 8 figures, presented at the 56th International Symposium on Robotics (ISR Europe)
Comment: 8 pages, 8 figures, presented at the 56th International Symposium on Robotics (ISR Europe)