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We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal…
Estimation of surface curvature from range data is important for a range of tasks in computer vision and robotics, object segmentation, object recognition and robotic grasping estimation. This work presents a fast method of robustly…
Knotted molecules occur naturally and are designed by scientists to gain special biological and material properties. Understanding and utilizing knotting require efficient methods to recognize and generate knotted structures, which are…
Reassembling 3D broken objects is a challenging task. A robust solution that generalizes well must deal with diverse patterns associated with different types of broken objects. We propose a method that tackles the pairwise assembly of 3D…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…
The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…
Interference detection of arbitrary geometric objects is not a trivial task due to the heavy computational load imposed by implementation issues. The hierarchically structured bounding boxes help us to quickly isolate the contour of…
Most previous bounding-box-based segmentation methods assume the bounding box tightly covers the object of interest. However it is common that a rectangle input could be too large or too small. In this paper, we propose a novel segmentation…
We present a novel probabilistic clustering model for objects that are represented via pairwise distances and observed at different time points. The proposed method utilizes the information given by adjacent time points to find the…
We present techniques for speeding up the test-time evaluation of large convolutional networks, designed for object recognition tasks. These models deliver impressive accuracy but each image evaluation requires millions of floating point…
Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…
Computing object skeletons in natural images is challenging, owing to large variations in object appearance and scale, and the complexity of handling background clutter. Many recent methods frame object skeleton detection as a binary pixel…
Edge detection is a critical component of many vision systems, including object detectors and image segmentation algorithms. Patches of edges exhibit well-known forms of local structure, such as straight lines or T-junctions. In this paper…
Human pose estimation, with its broad applications in action recognition and motion capture, has experienced significant advancements. However, current Transformer-based methods for video pose estimation often face challenges in managing…
Man-made objects usually exhibit descriptive curved features (i.e., curve networks). The curve network of an object conveys its high-level geometric and topological structure. We present a framework for extracting feature curve networks…
In this contribution, a semi-automatic segmentation algorithm for (medical) image analysis is presented. More precise, the approach belongs to the category of interactive contouring algorithms, which provide real-time feedback of the…
This study is a part of design of an audio system for in-house object detection system for visually impaired, low vision personnel by birth or by an accident or due to old age. The input of the system will be scene and output as audio.…
We describe a new algorithm to compute the geometric intersection number between two curves, given as edge vectors on an ideal triangulation. Most importantly, this algorithm runs in polynomial time in the bit-size of the two edge vectors.…
Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the existence of some initial conditions. To the best of our…