SKU-Patch: Towards Efficient Instance Segmentation for Unseen Objects in Auto-Store

원문 초록

In large-scale storehouses, precise instance masks are crucial for robotic bin picking but are challenging to obtain. Existing instance segmentation methods typically rely on a tedious process of scene collection, mask annotation, and network fine-tuning for every single Stock Keeping Unit (SKU). This paper presents SKU-Patch, a new patch-guided instance segmentation solution, leveraging only a few image patches for each incoming new SKU to predict accurate and robust masks, without tedious manual effort and model re-training. Technical-wise, we design a novel transformer-based network with (i) a patch-image correlation encoder to capture multi-level image features calibrated by patch information and (ii) a patch-aware transformer decoder with parallel task heads to generate instance masks. Extensive experiments on four storehouse benchmarks manifest that SKU-Patch is able to achieve the best performance over the state-of-the-art methods. Also, SKU-Patch yields an average of nearly 100% grasping success rate on more than 50 unseen SKUs in a robot-aided auto-store logistic pipeline, showing its effectiveness and practicality.