新闻 · arXiv cs.AI

DA-Fusion: Deformable Attention-Based RGB-D Fusion Transformer for Unseen Object Instance Segmentation

In logistics automation, precise segmentation of unseen objects is crucial for efficient robotic manipulation in cluttered environments. Tasks such as bin-picking and shelf-picking require robust perception to handle occlusions, varying object shapes, and complex spatial arrangements. Traditional RGB-based methods tend to over-segment objects due to their reliance on texture, while depth-based methods often under-segment by focusing primarily on geometric features. To address these limitations,…