Improve segmentation in bin picking by using part awareness
Improve segmentation in bin picking by using part awareness
Towards Robust Part-aware Instance Segmentation for Industrial Bin Picking
arXiv paper abstract https://arxiv.org/abs/2203.02767v1
arXiv PDF paper https://arxiv.org/pdf/2203.02767v1.pdf
Industrial bin picking is a challenging task that requires accurate and robust segmentation of individual object
… objects can have irregular shapes, that is, thin and concave, whereas in bin-picking scenarios, objects are often closely packed with strong occlusion.
… formulate a novel part-aware instance segmentation … to decompose … objects into … approximate convex parts and enhance the object … segmentation with part … segmentation.
… design a part-aware network to predict part masks and part-to-part offsets, followed by a part aggregation … to assemble the … parts into instances.
… also propose an automatic … generate ground-truth part-level labels from instance-level labels.
… method can achieve the best segmentation results compared with the state-of-the-art approaches.
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