Related papers: Fully Convolutional Geometric Features for Categor…
This paper studies the task of any objects grasping from the known categories by free-form language instructions. This task demands the technique in computer vision, natural language processing, and robotics. We bring these disciplines…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Existing methods either rely on object-specific priors such as…
The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…
How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…
Deep networks for image classification often rely more on texture information than object shape. While efforts have been made to make deep-models shape-aware, it is often difficult to make such models simple, interpretable, or rooted in…
We propose a novel framework for fine-grained object recognition that learns to recover object variation in 3D space from a single image, trained on an image collection without using any ground-truth 3D annotation. We accomplish this by…
External localization is an essential part for the indoor operation of small or cost-efficient robots, as they are used, for example, in swarm robotics. We introduce a two-stage localization and instance identification framework for…
Image registration is a key technique in medical image analysis to estimate deformations between image pairs. A good deformation model is important for high-quality estimates. However, most existing approaches use ad-hoc deformation models…
This paper proposes a novel method for online Multi-Object Tracking (MOT) using Graph Convolutional Neural Network (GCNN) based feature extraction and end-to-end feature matching for object association. The Graph based approach incorporates…
Online tracking of multiple objects in videos requires strong capacity of modeling and matching object appearances. Previous methods for learning appearance embedding mostly rely on instance-level matching without considering the temporal…
Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…
Fully convolutional networks (FCNs) have been proven very successful for semantic segmentation, but the FCN outputs are unaware of object instances. In this paper, we develop FCNs that are capable of proposing instance-level segment…
Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…
Learning automatically the structure of object categories remains an important open problem in computer vision. In this paper, we propose a novel unsupervised approach that can discover and learn landmarks in object categories, thus…
Due to large variations in shape, appearance, and viewing conditions, object recognition is a key precursory challenge in the fields of object manipulation and robotic/AI visual reasoning in general. Recognizing object categories,…
We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…
Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable…
For many applications, we need to use techniques to represent convex shapes and objects. In this work, we use level set method to represent shapes and find a necessary and sufficient condition on the level set function to guarantee the…
Object Transfiguration replaces an object in an image with another object from a second image. For example it can perform tasks like "putting exactly those eyeglasses from image A on the nose of the person in image B". Usage of exemplar…