Related papers: Sequential Amodal Segmentation via Cumulative Occl…

Diffusion Probabilistic Methods are employed for state-of-the-art image generation. In this work, we present a method for extending such models for performing image segmentation. The method learns end-to-end, without relying on a…

Image segmentation is the task of associating pixels in an image with their respective object class labels. It has a wide range of applications in many industries including healthcare, transportation, robotics, fashion, home improvement,…

Image-to-image translation is affected by entanglement phenomena, which may occur in case of target data encompassing occlusions such as raindrops, dirt, etc. Our unsupervised model-based learning disentangles scene and occlusions, while…

We present a cascaded diffusion model based on a part-level implicit 3D representation. Our model achieves state-of-the-art generation quality and also enables part-level shape editing and manipulation without any additional training in…

Capsule networks aim to parse images into a hierarchy of objects, parts and relations. While promising, they remain limited by an inability to learn effective low level part descriptions. To address this issue we propose a way to learn…

We introduce a novel framework to build a model that can learn how to segment objects from a collection of images without any human annotation. Our method builds on the observation that the location of object segments can be perturbed…

Picking objects in a narrow space such as shelf bins is an important task for humanoid to extract target object from environment. In those situations, however, there are many occlusions between the camera and objects, and this makes it…

Amodal object segmentation is a challenging task that involves segmenting both visible and occluded parts of an object. In this paper, we propose a novel approach, called Coarse-to-Fine Segmentation (C2F-Seg), that addresses this problem by…

Image segmentation needs both local boundary position information and global object context information. The performance of the recent state-of-the-art method, fully convolutional networks, reaches a bottleneck due to the neural network…

Discovering 3D arrangements of objects from single indoor images is important given its many applications including interior design, content creation, etc. Although heavily researched in the recent years, existing approaches break down…

Panoptic segmentation assigns semantic and instance ID labels to every pixel of an image. As permutations of instance IDs are also valid solutions, the task requires learning of high-dimensional one-to-many mapping. As a result,…

The pre-trained text-image discriminative models, such as CLIP, has been explored for open-vocabulary semantic segmentation with unsatisfactory results due to the loss of crucial localization information and awareness of object shapes.…

Service robots are expected to operate effectively in human-centric environments for long periods of time. In such realistic scenarios, fine-grained object categorization is as important as basic-level object categorization. We tackle this…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

Visual affordance segmentation identifies the surfaces of an object an agent can interact with. Common challenges for the identification of affordances are the variety of the geometry and physical properties of these surfaces as well as…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

Semantic segmentation and instance level segmentation made substantial progress in recent years due to the emergence of deep neural networks (DNNs). A number of deep architectures with Convolution Neural Networks (CNNs) were proposed that…

Goal-oriented grasping in dense clutter, a fundamental challenge in robotics, demands an adaptive policy to handle occluded target objects and diverse configurations. Previous methods typically learn policies based on partially observable…

Common visual recognition tasks such as classification, object detection, and semantic segmentation are rapidly reaching maturity, and given the recent rate of progress, it is not unreasonable to conjecture that techniques for many of these…