Related papers: RISeg: Robot Interactive Object Segmentation via B…
This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Unsupervised video object segmentation aims to automatically segment moving objects over an unconstrained video without any user annotation. So far, only few unsupervised online methods have been reported in literature and their performance…
Accurate and robust ultrasound image segmentation is critical for computer-aided diagnostic systems. Nevertheless, the inherent challenges of ultrasound imaging, such as blurry boundaries and speckle noise, often cause traditional…
A key algorithm for understanding the world is material segmentation, which assigns a label (metal, glass, etc.) to each pixel. We find that a model trained on existing data underperforms in some settings and propose to address this with a…
This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
This paper explores the potential of brain-computer interfaces in segmenting objects from images. Our approach is centered around designing an effective method for displaying the image parts to the users such that they generate measurable…
Automatic instance segmentation is a problem that occurs in many biomedical applications. State-of-the-art approaches either perform semantic segmentation or refine object bounding boxes obtained from detection methods. Both suffer from…
This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…
Recent advances in the area of plane segmentation from single RGB images show strong accuracy improvements and now allow a reliable segmentation of indoor scenes into planes. Nonetheless, fine-grained details of these segmentation masks are…
In the last few years, there has been a growing interest in taking advantage of the 360 panoramic images potential, while managing the new challenges they imply. While several tasks have been improved thanks to the contextual information…
To improve the efficiency of surgical trajectory segmentation for robot learning in robot-assisted minimally invasive surgery, this paper presents a fast unsupervised method using video and kinematic data, followed by a promoting procedure…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…
We address the highly challenging problem of video object segmentation. Given only the initial mask, the task is to segment the target in the subsequent frames. In order to effectively handle appearance changes and similar background…
Intelligent robots need to interact with diverse objects across various environments. The appearance and state of objects frequently undergo complex transformations depending on the object properties, e.g., phase transitions. However, in…