Related papers: Discovering Relationships between Object Categorie…

We use deep learning to model interactions across two or more sets of objects, such as user-movie ratings, protein-drug bindings, or ternary user-item-tag interactions. The canonical representation of such interactions is a matrix (or a…

One of the key challenges of visual perception is to extract abstract models of 3D objects and object categories from visual measurements, which are affected by complex nuisance factors such as viewpoint, occlusion, motion, and…

Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods to achieve high precision. However, they have difficulty…

Uncorrelated optical space observation association represents a classic needle in a haystack problem. The objective being to find small groups of observations that are likely of the same resident space objects (RSOs) from amongst the much…

Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Generative Adversarial Networks (GANs) can produce images of remarkable complexity and realism but are generally structured to sample from a single latent source ignoring the explicit spatial interaction between multiple entities that could…

Metric learning seeks to embed images of objects suchthat class-defined relations are captured by the embeddingspace. However, variability in images is not just due to different depicted object classes, but also depends on other latent…

Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The…

Object detection models perform well at localizing and classifying objects that they are shown during training. However, due to the difficulty and cost associated with creating and annotating detection datasets, trained models detect a…

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…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

In this paper, we present a deep learning model that exploits the power of self-supervision to perform 3D point cloud completion, estimating the missing part and a context region around it. Local and global information are encoded in a…

Establishing correspondences between two images requires both local and global spatial context. Given putative correspondences of feature points in two views, in this paper, we propose Order-Aware Network, which infers the probabilities of…

Object skeletons offer a concise representation of structural information, capturing essential aspects of posture and orientation that are crucial for autonomous driving applications. However, a unified architecture that simultaneously…

Estimation of human shape and pose from a single image is a challenging task. It is an even more difficult problem to map the identified human shape onto a 3D human model. Existing methods map manually labelled human pixels in real 2D…

We tackle the tasks of: 1) predicting a Canonical Surface Mapping (CSM) that indicates the mapping from 2D pixels to corresponding points on a canonical template shape, and 2) inferring the articulation and pose of the template…

Object detection, for the most part, has been formulated in the euclidean space, where euclidean or spherical geodesic distances measure the similarity of an image region to an object class prototype. In this work, we study whether a…

Learning with complete or partial supervision is powerful but relies on ever-growing human annotation efforts. As a way to mitigate this serious problem, as well as to serve specific applications, unsupervised learning has emerged as an…

Geometric variations of objects, which do not modify the object class, pose a major challenge for object recognition. These variations could be rigid as well as non-rigid transformations. In this paper, we design a framework for training…