Related papers: GrabS: Generative Embodied Agent for 3D Object Seg…
Unsupervised semantic segmentation aims to discover groupings within and across images that capture object and view-invariance of a category without external supervision. Grouping naturally has levels of granularity, creating ambiguity in…
The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…
Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…
We present an approach to semi-supervised video object segmentation, in the context of the DAVIS 2017 challenge. Our approach combines category-based object detection, category-independent object appearance segmentation and temporal object…
In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…
Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a depth camera into multiple primitive shapes, along with a…
This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…
3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…
Object permanence in humans is a fundamental cue that helps in understanding persistence of objects, even when they are fully occluded in the scene. Present day methods in object segmentation do not account for this amodal nature of the…
The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…
As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…
Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…
Understanding 3D object shapes necessitates shape representation by object parts abstracted from results of instance and semantic segmentation. Promising shape representations enable computers to interpret a shape with meaningful parts and…
With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling…
By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion. Solving this task for composite scenes (such as object…
We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…
We describe an unsupervised method to detect and segment portions of images of live scenes that, at some point in time, are seen moving as a coherent whole, which we refer to as objects. Our method first partitions the motion field by…
We present a new weakly supervised learning-based method for generating novel category-specific 3D shapes from unoccluded image collections. Our method is weakly supervised and only requires silhouette annotations from unoccluded,…
Object-centric learning aims to decompose an input image into a set of meaningful object files (slots). These latent object representations enable a variety of downstream tasks. Yet, object-centric learning struggles on real-world datasets,…
Previous top-performing methods for 3D instance segmentation often maintain inter-task dependencies and the tendency towards a lack of robustness. Besides, inevitable variations of different datasets make these methods become particularly…