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  1. The success of 6-DoF grasp learning with point cloud input is tempered by the computational costs resulting from their unordered nature and pre-processing needs for reducing the point cloud to a manageable size. These properties lead to failure on small objects with low point cloud cardinality. Instead of point clouds, this manuscript explores grasp generation directly from the RGB-D image input. The approach, called Keypoint-GraspNet (KGN), operates in perception space by detecting projected gripper keypoints in the image, then recovering their SE(3) poses with a PnP algorithm. Training of the network involves a synthetic dataset derived from primitive shape objects with known continuous grasp families. Trained with only single-object synthetic data, Keypoint-GraspNet achieves superior result on our single-object dataset, comparable performance with state-of-art baselines on a multi-object test set, and outperforms the most competitive baseline on small objects. Keypoint-GraspNet is more than 3x faster than tested point cloud methods. Robot experiments show high success rate, demonstrating KGN's practical potential. 
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    Free, publicly-accessible full text available May 29, 2024
  2. This paper presents a semi-supervised framework for multi-level description learning aiming for robust and accurate camera relocalization across large perception variations. Our proposed network, namely DLSSNet, simultaneously learns weakly-supervised semantic segmentation and local feature description in the hierarchy. Therefore, the augmented descriptors, trained in an end-to-end manner, provide a more stable high-level representation for local feature dis-ambiguity. To facilitate end-to-end semantic description learning, the descriptor segmentation module is proposed to jointly learn semantic descriptors and cluster centers using standard semantic segmentation loss. We show that our model can be easily fine-tuned for domain-specific usage without any further semantic annotations, instead, requiring only 2D-2D pixel correspondences. The learned descriptors, trained with our proposed pipeline, can boost the cross-season localization performance against other state-of-the-arts. 
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