Related papers: GeoGraph: Learning graph-based multi-view object d…
Given point cloud input, the problem of 6-DoF grasp pose detection is to identify a set of hand poses in SE(3) from which an object can be successfully grasped. This important problem has many practical applications. Here we propose a novel…
This letter presents KGpose, a novel end-to-end framework for 6D pose estimation of multiple objects. Our approach combines keypoint-based method with learnable pose regression through `keypoint-graph', which is a graph representation of…
Graph neural networks (GNNs) are a powerful tool to learn representations on graphs by iteratively aggregating features from node neighbourhoods. Many variant models have been proposed, but there is limited understanding on both how to…
Although graph neural networks (GNNs) have made great progress recently on learning from graph-structured data in practice, their theoretical guarantee on generalizability remains elusive in the literature. In this paper, we provide a…
We tackle the problem of object detection and pose estimation in a shared space downtown environment. For perception multiple laser scanners with 360{\deg} coverage were fused in a dynamic occupancy grid map (DOGMa). A single-stage deep…
Graph neural networks (GNNs) are a popular class of machine learning models whose major advantage is their ability to incorporate a sparse and discrete dependency structure between data points. Unfortunately, GNNs can only be used when such…
Visual intelligence at the edge is becoming a growing necessity for low latency applications and situations where real-time decision is vital. Object detection, the first step in visual data analytics, has enjoyed significant improvements…
We propose a novel scene graph generation model called Graph R-CNN, that is both effective and efficient at detecting objects and their relations in images. Our model contains a Relation Proposal Network (RePN) that efficiently deals with…
We address the task of open-world class-agnostic object detection, i.e., detecting every object in an image by learning from a limited number of base object classes. State-of-the-art RGB-based models suffer from overfitting the training…
Graph Convolutional Neural Networks (GCNNs) are generalizations of CNNs to graph-structured data, in which convolution is guided by the graph topology. In many cases where graphs are unavailable, existing methods manually construct graphs…
Camera localization is a classical computer vision task that serves various Artificial Intelligence and Robotics applications. With the rapid developments of Deep Neural Networks (DNNs), end-to-end visual localization methods are prosperous…
Graph Convolutional Networks (GCNs) are a class of general models that can learn from graph structured data. Despite being general, GCNs are admittedly inferior to convolutional neural networks (CNNs) when applied to vision tasks, mainly…
Data-centric methods have shown great potential in understanding and predicting spatiotemporal dynamics, enabling better design and control of the object system. However, deep learning models often lack interpretability, fail to obey…
Early detection of faults is of importance to avoid catastrophic accidents and ensure safe operation of machinery. A novel graph neural network-based fault detection method is proposed to build a bridge between AI and real-world running…
Social and information networks are gaining huge popularity recently due to their various applications. Knowledge representation through graphs in the form of nodes and edges should preserve as many characteristics of the original data as…
We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
In this paper, we design Graph Neural Networks (GNNs) with attention mechanisms to tackle an important yet challenging nonlinear regression problem: massive network localization. We first review our previous network localization method…
Recent graph convolutional neural networks (GCNs) have shown high performance in the field of human action recognition by using human skeleton poses. However, it fails to detect human-object interaction cases successfully due to the lack of…
Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…