Web: http://arxiv.org/abs/2209.07976

Sept. 19, 2022, 1:14 a.m. | Jiri Sedlar, Karla Stepanova, Radoslav Skoviera, Jan Kristof Behrens, Gabriela Sejnova, Josef Sivic, Robert Babuska

cs.CV updates on arXiv.org arxiv.org

This paper introduces a dataset for training and evaluating methods for 6D
pose estimation of hand-held tools in task demonstrations captured by a
standard RGB camera. Despite the significant progress of 6D pose estimation
methods, their performance is usually limited for heavily occluded objects,
which is a common case in imitation learning where the object is typically
partially occluded by the manipulating hand. Currently, there is a lack of
datasets that would enable the development of robust 6D pose estimation …

arxiv dataset imitation learning training

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