Related papers: Support Relation Analysis for Objects in Multiple …
Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…
A critical aspect of human visual perception is the ability to parse visual scenes into individual objects and further into object parts, forming part-whole hierarchies. Such composite structures could induce a rich set of semantic concepts…
In a human-robot collaborative task where a robot helps its partner by finding described objects, the depth dimension plays a critical role in successful task completion. Existing studies have mostly focused on comprehending the object…
To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…
As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
In this paper we present an approach and a benchmark for visual reasoning in robotics applications, in particular small object grasping and manipulation. The approach and benchmark are focused on inferring object properties from visual and…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…
Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated…
Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…
To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…
A structured query can capture the complexity of object interactions (e.g. 'woman rides motorcycle') unlike single objects (e.g. 'woman' or 'motorcycle'). Retrieval using structured queries therefore is much more useful than single object…
Context has proven to be one of the most important factors in object layout reasoning for 3D scene understanding. Existing deep contextual models either learn holistic features for context encoding or rely on pre-defined scene templates for…
Object detection is a basic and important task in the field of aerial image processing and has gained much attention in computer vision. However, previous aerial image object detection approaches have insufficient use of scene semantic…
Recovering textured 3D models of non-rigid human body shapes is challenging due to self-occlusions caused by complex body poses and shapes, clothing obstructions, lack of surface texture, background clutter, sparse set of cameras with…
This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
Inertial mass plays a crucial role in robotic applications such as object grasping, manipulation, and simulation, providing a strong prior for planning and control. Accurately estimating an object's mass before interaction can significantly…