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arXiv · 1711.02216

SegICP-DSR: Dense Semantic Scene Reconstruction and Registration

Jay M. Wong·Syler Wagner·Connor Lawson·Vincent Kee·Mitchell Hebert·Justin Rooney·Gian-Luca Mariottini·Rebecca Russell·Abraham Schneider·Rahul Chipalkatty·David M. S. Johnson
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Abstract

To enable autonomous robotic manipulation in unstructured environments, we present SegICP-DSR, a real- time, dense, semantic scene reconstruction and pose estimation algorithm that achieves mm-level pose accuracy and standard deviation (7.9 mm, σ=7.6 mm and 1.7 deg, σ=0.7 deg) and suc- cessfully identified the object pose in 97% of test cases. This represents a 29% increase in accuracy, and a 14% increase in success rate compared to SegICP in cluttered, unstruc- tured environments. The performance increase of SegICP-DSR arises from (1) improved deep semantic segmentation under adversarial training, (2) precise automated calibration of the camera intrinsic and extrinsic parameters, (3) viewpoint specific ray-casting of the model geometry, and (4) dense semantic ElasticFusion point clouds for registration. We benchmark the performance of SegICP-DSR on thousands of pose-annotated video frames and demonstrate its accuracy and efficacy on two tight tolerance grasping and insertion tasks using a KUKA LBR iiwa robotic arm.

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Jay M. Wong, Syler Wagner, Connor Lawson, Vincent Kee, Mitchell Hebert, Justin Rooney, Gian-Luca Mariottini, Rebecca Russell, Abraham Schneider, Rahul Chipalkatty, David M. S. Johnson. 2017-11-06. SegICP-DSR: Dense Semantic Scene Reconstruction and Registration. https://arxiv.org/abs/1711.02216

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