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Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Surgical instrument segmentation in robot-assisted surgery (RAS) - especially that using learning-based models - relies on the assumption that training and testing videos are sampled from the same domain. However, it is impractical and…

Training 3D object detectors for autonomous driving has been limited to small datasets due to the effort required to generate annotations. Reducing both task complexity and the amount of task switching done by annotators is key to reducing…

Deep learning based visual trackers entail offline pre-training on large volumes of video datasets with accurate bounding box annotations that are labor-expensive to achieve. We present a new framework to facilitate bounding box annotations…

360 video captures the complete surrounding scenes with the ultra-large field of view of 360X180. This makes 360 scene understanding tasks, eg, segmentation and tracking, crucial for appications, such as autonomous driving, robotics. With…

RGB-T salient object detection (SOD) aims to segment attractive objects by combining RGB and thermal infrared images. To enhance performance, the Segment Anything Model has been fine-tuned for this task. However, the imbalance convergence…

This paper proposes an algorithm for automatically labeling 3D objects from 2D point or box prompts, especially focusing on applications in autonomous driving. Unlike previous arts, our auto-labeler predicts 3D shapes instead of bounding…

Large-scale annotation of image segmentation datasets is often prohibitively expensive, as it usually requires a huge number of worker hours to obtain high-quality results. Abundant and reliable data has been, however, crucial for the…

Effective waste sorting is critical for sustainable recycling, yet AI research in this domain continues to lag behind commercial systems due to limited datasets and reliance on legacy object detectors. In this work, we advance AI-driven…

Most existing RGB-D salient object detection (SOD) methods focus on the foreground region when utilizing the depth images. However, the background also provides important information in traditional SOD methods for promising performance. To…

Annotating object ground truth in videos is vital for several downstream tasks in robot perception and machine learning, such as for evaluating the performance of an object tracker or training an image-based object detector. The accuracy of…

Remembering where object segments were predicted in the past is useful for improving the accuracy and consistency of class-agnostic video segmentation algorithms. Existing video segmentation algorithms typically use either no object-level…

Deep neural networks (DNNs) have demonstrated exceptional performance across various image segmentation tasks. However, the process of preparing datasets for training segmentation DNNs is both labor-intensive and costly, as it typically…

Benefiting from color independence, illumination invariance and location discrimination attributed by the depth map, it can provide important supplemental information for extracting salient objects in complex environments. However,…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

Semantic segmentation is a fundamental task in medical image analysis and autonomous driving and has a problem with the high cost of annotating the labels required in training. To address this problem, semantic segmentation methods based on…

Semantic segmentation requires large amounts of pixel-wise annotations to learn accurate models. In this paper, we present a video prediction-based methodology to scale up training sets by synthesizing new training samples in order to…

Conventional RGB-D salient object detection methods aim to leverage depth as complementary information to find the salient regions in both modalities. However, the salient object detection results heavily rely on the quality of captured…

The trajectory and boundary of an orbiting satellite are fundamental information for on-orbit repairing and manipulation by space robots. This task, however, is challenging owing to the freely and rapidly motion of on-orbiting satellites,…

Salient object detection segments attractive objects in scenes. RGB and thermal modalities provide complementary information and scribble annotations alleviate large amounts of human labor. Based on the above facts, we propose a…