Related papers: One Object at a Time: Accurate and Robust Structur…
Despite the recent success of state-of-the-art 3D object recognition approaches, service robots are frequently failed to recognize many objects in real human-centric environments. For these robots, object recognition is a challenging task…
Single object tracking (SOT) heavily relies on the representation of the target object as a bounding box. However, due to the potential deformation and rotation experienced by the tracked targets, the genuine bounding box fails to capture…
Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the existence of some initial conditions. To the best of our…
We propose a technique for learning single-view 3D object pose estimation models by utilizing a new source of data -- in-the-wild videos where objects turn. Such videos are prevalent in practice (e.g., cars in roundabouts, airplanes near…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…
Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
Multi-object tracking from RGB-D video sequences is a challenging problem due to the combination of changing viewpoints, motion, and occlusions over time. We observe that having the complete geometry of objects aids in their tracking, and…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…
Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…
With a single eye fixation lasting a fraction of a second, the human visual system is capable of forming a rich representation of a complex environment, reaching a holistic understanding which facilitates object recognition and detection.…
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…
Household robots operate in the same space for years. Such robots incrementally build dynamic maps that can be used for tasks requiring remote object localization. However, benchmarks in robot learning often test generalization through…
Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…