Article

HTPE-Net: Monocular 6D Pose Estimation of Transparent Objects in Hand for Robot Manipulation

2024-12-03

Abstract excerpt

Transparent objects are difficult to perceive due to their unique optical properties, and the dynamic interaction between the hand and object further complicates pose estimation. To address this problem, we propose HTPE-Net, a monocular instance-level 6D pose estimation method for hand-held transparent objects, addressing the significant challenges posed by the texture-less, non-Lambertian surfaces, and hand-objec...

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Literature Corpus work: ac7a549e-5150-59f0-befa-76517c943edd
DOI: 10.22541/au.173321945.54329568/v1

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