[robotics-worldwide] [Software] Rutgers PHYSIM Tool: Automatic Generation of Physically-realistic Datasets for Object Detection and Pose Estimation in Robotics

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[robotics-worldwide] [Software] Rutgers PHYSIM Tool: Automatic Generation of Physically-realistic Datasets for Object Detection and Pose Estimation in Robotics

Abdeslam
Dear colleagues,

We are releasing a software for automatically generating synthetic training
datasets for Object Detection and Pose Estimation in Robotics. It uses 3D
CAD models of objects and simulates several aspects of the environment to
automatically generate labeled images of objects in clutter. The objects
are placed in physically-realistic poses through the use of an
appropriately tuned physics-engine.

The tool can be downloaded from the following link:
https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_cmitash_physim-2Ddataset-2Dgenerator&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kcxDZQtjP6ClPuV72NZ8sBzi8GnisdTSWFc9EspHrSI&s=STQtsiJZM49065pTe1eOIrQQCKKFpEzw31SFRvg_vwE&e=
<https://urldefense.proofpoint.com/v2/url?u=https-3A__na01.safelinks.protection.outlook.com_-3Furl-3Dhttps-253A-252F-252Fgithub.com-252Fcmitash-252Fphysim-2Ddataset-2Dgenerator-26data-3D02-257C01-257Ccm1074-2540cs.rutgers.edu-257C74fcd3b14a5644611b3e08d4e8be4ca5-257Cb92d2b234d35447093ff69aca6632ffe-257C1-257C0-257C636389351410458522-26sdata-3DrqXE48jhN-252B6iqqQiVvxMY5kZ0QADK9IWcs4aoNVhIVs-253D-26reserved-3D0&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kcxDZQtjP6ClPuV72NZ8sBzi8GnisdTSWFc9EspHrSI&s=0C_cmLkJz6CW3pt6pYx4PFThD5GtANkdirrluxsHcKQ&e=>

The implementation is based on the following IROS 2017 paper:

Chaitanya Mitash, Kostas Bekris, Abdeslam Boularias, “A Self-supervised
Learning System for Object Detection using Physics Simulation and
Multi-view Pose Estimation”, International Conference on Intelligent Robots
and Systems (IROS), 2017

[pdf] https://urldefense.proofpoint.com/v2/url?u=https-3A__arxiv.org_abs_1703.03347&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kcxDZQtjP6ClPuV72NZ8sBzi8GnisdTSWFc9EspHrSI&s=Lj0MnFJYDxsM_hwkwafBDyvsIIkA_q4oQSf1qOo8KNU&e=
<https://urldefense.proofpoint.com/v2/url?u=https-3A__na01.safelinks.protection.outlook.com_-3Furl-3Dhttps-253A-252F-252Farxiv.org-252Fpdf-252F1703.03347.pdf-26data-3D02-257C01-257Ccm1074-2540cs.rutgers.edu-257C74fcd3b14a5644611b3e08d4e8be4ca5-257Cb92d2b234d35447093ff69aca6632ffe-257C1-257C1-257C636389351410458522-26sdata-3DoS39k3P7ATGIoJSOfB7y4RrZgg3SKE2686jbesKQ3fc-253D-26reserved-3D0&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kcxDZQtjP6ClPuV72NZ8sBzi8GnisdTSWFc9EspHrSI&s=CA__hoHB-i2zDfji3tdU0rDw_OzcwuARGo_dGgemKGw&e=>
[webpage] https://urldefense.proofpoint.com/v2/url?u=http-3A__www.physimpose.com&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kcxDZQtjP6ClPuV72NZ8sBzi8GnisdTSWFc9EspHrSI&s=zxglWBrZlhZ02tssC4LIaJbJDs3RYuttVgjnbibgn20&e=
<https://urldefense.proofpoint.com/v2/url?u=https-3A__na01.safelinks.protection.outlook.com_-3Furl-3Dhttp-253A-252F-252Fwww.physimpose.com-26data-3D02-257C01-257Ccm1074-2540cs.rutgers.edu-257C74fcd3b14a5644611b3e08d4e8be4ca5-257Cb92d2b234d35447093ff69aca6632ffe-257C1-257C0-257C636389351410458522-26sdata-3DuyJSf9yE0lqyem3JeWZaONvrZwu47W3-252FUEe2lkDHWZk-253D-26reserved-3D0&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=kcxDZQtjP6ClPuV72NZ8sBzi8GnisdTSWFc9EspHrSI&s=Q6rWpjT4D1kp75oteIBPMazVDi_JPv0LaOkgODa9-wA&e=>

Best,
   Chaitanya Mitash, Kostas Bekris and Abdeslam Boularias
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