Enhancing Human-Robot Collaboration: A Sim2Real Domain Adaptation Algorithm for Point Cloud Segmentation in Industrial Environments
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866912424776433664 |
|---|---|
| author | Amin, Fatemeh Mohammadi Caldwell, Darwin G. van de Venn, Hans Wernher |
| author_facet | Amin, Fatemeh Mohammadi Caldwell, Darwin G. van de Venn, Hans Wernher |
| contents | The robust interpretation of 3D environments is crucial for human-robot collaboration (HRC) applications, where safety and operational efficiency are paramount. Semantic segmentation plays a key role in this context by enabling a precise and detailed understanding of the environment. Considering the intense data hunger for real-world industrial annotated data essential for effective semantic segmentation, this paper introduces a pioneering approach in the Sim2Real domain adaptation for semantic segmentation of 3D point cloud data, specifically tailored for HRC. Our focus is on developing a network that robustly transitions from simulated environments to real-world applications, thereby enhancing its practical utility and impact on a safe HRC.
In this work, we propose a dual-stream network architecture (FUSION) combining Dynamic Graph Convolutional Neural Networks (DGCNN) and Convolutional Neural Networks (CNN) augmented with residual layers as a Sim2Real domain adaptation algorithm for an industrial environment. The proposed model was evaluated on real-world HRC setups and simulation industrial point clouds, it showed increased state-of-the-art performance, achieving a segmentation accuracy of 97.76%, and superior robustness compared to existing methods. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_09552 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Enhancing Human-Robot Collaboration: A Sim2Real Domain Adaptation Algorithm for Point Cloud Segmentation in Industrial Environments Amin, Fatemeh Mohammadi Caldwell, Darwin G. van de Venn, Hans Wernher Robotics Computer Vision and Pattern Recognition The robust interpretation of 3D environments is crucial for human-robot collaboration (HRC) applications, where safety and operational efficiency are paramount. Semantic segmentation plays a key role in this context by enabling a precise and detailed understanding of the environment. Considering the intense data hunger for real-world industrial annotated data essential for effective semantic segmentation, this paper introduces a pioneering approach in the Sim2Real domain adaptation for semantic segmentation of 3D point cloud data, specifically tailored for HRC. Our focus is on developing a network that robustly transitions from simulated environments to real-world applications, thereby enhancing its practical utility and impact on a safe HRC. In this work, we propose a dual-stream network architecture (FUSION) combining Dynamic Graph Convolutional Neural Networks (DGCNN) and Convolutional Neural Networks (CNN) augmented with residual layers as a Sim2Real domain adaptation algorithm for an industrial environment. The proposed model was evaluated on real-world HRC setups and simulation industrial point clouds, it showed increased state-of-the-art performance, achieving a segmentation accuracy of 97.76%, and superior robustness compared to existing methods. |
| title | Enhancing Human-Robot Collaboration: A Sim2Real Domain Adaptation Algorithm for Point Cloud Segmentation in Industrial Environments |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2506.09552 |