Instance-aware segmentation of unseen objects is essential for a robotic system in an unstructured environment. Although previous works achieved encouraging results, they were limited to segmenting the only visible regions of unseen objects. For robotic manipulation in a cluttered scene, amodal perception is required to handle the occluded objects behind others. This paper addresses Unseen Object Amodal Instance Segmentation (UOAIS) to detect 1) visible masks, 2) amodal masks, and 3) occlusions on unseen object instances. For this, we propose a Hierarchical Occlusion Modeling (HOM) scheme designed to reason about the occlusion by assigning a hierarchy to a feature fusion and prediction order. We evaluated our method on three benchmarks (tabletop, indoors, and bin environments) and achieved state-of-the-art (SOTA) performance. Robot demos for picking up occluded objects, codes, and datasets are available at https://sites.google.com/view/uoais

本文介绍了一种基于Hierarchical Occlusion Modeling方案的Unseen Object Amodal Instance Segmentation（UOAIS）技术，可以检测出未被发现目标实例上的可见掩蔽、Amoldal掩蔽和遮挡，并在三种基准测试环境中取得了最新的最佳表现，可用于机器人在拾取遮挡物品时。

基于分层遮挡模型的未见过目标全息实例分割