Related papers: SGDN: Segmentation-Based Grasp Detection Network F…
Bin picking is an important building block for many robotic systems, in logistics, production or in household use-cases. In recent years, machine learning methods for the prediction of 6-DoF grasps on diverse and unknown objects have shown…
Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…
The distance-geometric graph representation adopts a unified scheme (distance) for representing the geometry of three-dimensional(3D) graphs. It is invariant to rotation and translation of the graph and it reflects pair-wise node…
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which relies on 3D models of objects and the gripper to estimate…
While the celebrated graph neural networks yield effective representations for individual nodes of a graph, there has been relatively less success in extending to the task of graph similarity learning. Recent work on graph similarity…
Current successful approaches for generic (non-semantic) segmentation rely mostly on edge detection and have leveraged the strengths of deep learning mainly by improving the edge detection stage in the algorithmic pipeline. This is in…
Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…
With the rapid development of indoor location-based services (LBSs), the demand for accurate localization keeps growing as well. To meet this demand, we propose an indoor localization algorithm based on graph convolutional network (GCN). We…
Aero-engine is the core component of aircraft and other spacecraft. The high-speed rotating blades provide power by sucking in air and fully combusting, and various defects will inevitably occur, threatening the operation safety of…
Hand pose represents key information for action recognition in the egocentric perspective, where the user is interacting with objects. We propose to improve egocentric 3D hand pose estimation based on RGB frames only by using pseudo-depth…
Most state-of-the-art 3D object detectors heavily rely on LiDAR sensors because there is a large performance gap between image-based and LiDAR-based methods. It is caused by the way to form representation for the prediction in 3D scenarios.…
A key challenge in robot teaching is grasp-type recognition with a single RGB image and a target object name. Here, we propose a simple yet effective pipeline to enhance learning-based recognition by leveraging a prior distribution of grasp…
RGB-D salient object detection (SOD) has been in the spotlight recently because it is an important preprocessing operation for various vision tasks. However, despite advances in deep learning-based methods, RGB-D SOD is still challenging…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Many segmentation networks have been proposed for 3D volumetric segmentation of tumors and organs at risk. Hospitals and clinical institutions seek to accelerate and minimize the efforts of specialists in image segmentation. Still, in case…
Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…
Many scientific and engineering processes produce spatially unstructured data. However, most data-driven models require a feature matrix that enforces both a set number and order of features for each sample. They thus cannot be easily…
Planar-symmetric hands, such as parallel grippers, are widely adopted in both research and industrial fields. Their symmetry, however, introduces ambiguity and discontinuity in the SO(3) representation, which hinders both the training and…
Fast and robust object grasping in clutter is a crucial component of robotics. Most current works resort to the whole observed point cloud for 6-Dof grasp generation, ignoring the guidance information excavated from global semantics, thus…
Rotation invariance has been an important topic in computer vision tasks. Ideally, robot grasp detection should be rotation-invariant. However, rotation-invariance in robotic grasp detection has been only recently studied by using rotation…