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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



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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