Abstract: A method for controlling a robotic system includes: capturing, by an imaging system, one or more images of a scene; computing, by a processing circuit including a processor and memory, one or more instance segmentation masks based on the one or more images, the one or more instance segmentation masks detecting one or more objects in the scene; computing, by the processing circuit, one or more pickability scores for the one or more objects; selecting, by the processing circuit, an object among the one or more objects based on the one or more pickability scores; computing, by the processing circuit, an object picking plan for the selected object; and outputting, by the processing circuit, the object picking plan to a controller configured to control an end effector of a robotic arm to pick the selected object.

Abstract: A method for estimating a pose of an object includes: receiving, by a processor, an observed image depicting the object from a viewpoint; computing, by the processor, an instance segmentation map identifying a class of the object depicted in the observed image; loading, by the processor, a 3-D model corresponding to the class of the object; computing, by the processor, a rendered image of the 3-D model in accordance with an initial pose estimate of the object and the viewpoint of the observed image; computing, by the processor, a plurality of dense image-to-object correspondences between the observed image of the object and the 3-D model based on the observed image and the rendered image; and computing, by the processor, the pose of the object based on the dense image-to-object correspondences.