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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, {\sigma}=7.6 mm and 1.7 deg, {\sigma}=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.

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed and robustness, we present SegICP, a novel integrated solution to object recognition and pose estimation. SegICP couples convolutional neural networks and multi-hypothesis point cloud registration to achieve both robust pixel-wise semantic segmentation as well as accurate and real-time 6-DOF pose estimation for relevant objects. Our architecture achieves 1cm position error and <5^\circ$ angle error in real time without an initial seed. We evaluate and benchmark SegICP against an annotated dataset generated by motion capture., Comment: IROS camera-ready