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3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…
The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…
2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…
Object detection from RGB images is a long-standing problem in image processing and computer vision. It has applications in various domains including robotics, surveillance, human-computer interaction, and medical diagnosis. With the…
In this work, we present a novel scheduling framework enabling anytime perception for deep neural network (DNN) based 3D object detection pipelines. We focus on computationally expensive region proposal network (RPN) and per-category…
3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…
A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…
Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…
In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…
Dynamic objects have a significant impact on the robot's perception of the environment which degrades the performance of essential tasks such as localization and mapping. In this work, we address this problem by synthesizing plausible…
Automated monitoring and analysis of passenger movement in safety-critical parts of transport infrastructures represent a relevant visual surveillance task. Recent breakthroughs in visual representation learning and spatial sensing opened…
We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D…
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…
This paper presents a new multi-view RGB-D dataset of nine kitchen scenes, each containing several objects in realistic cluttered environments including a subset of objects from the BigBird dataset. The viewpoints of the scenes are densely…
Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…
In this work, we study 3D object detection from RGB-D data in both indoor and outdoor scenes. While previous methods focus on images or 3D voxels, often obscuring natural 3D patterns and invariances of 3D data, we directly operate on raw…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…
Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…
This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…