相关论文: Multi-Class Detection and Segmentation of Objects …

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

Context has proven to be one of the most important factors in object layout reasoning for 3D scene understanding. Existing deep contextual models either learn holistic features for context encoding or rely on pre-defined scene templates for…

In this paper, we present a novel approach for object recognition in real-time by employing multilevel feature analysis and demonstrate the practicality of adapting feature extraction into a Naive Bayesian classification framework that…

Large-scale pre-training holds the promise to advance 3D medical object detection, a crucial component of accurate computer-aided diagnosis. Yet, it remains underexplored compared to segmentation, where pre-training has already demonstrated…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…

We introduce a scalable approach for object pose estimation trained on simulated RGB views of multiple 3D models together. We learn an encoding of object views that does not only describe an implicit orientation of all objects seen during…

This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

Pixel-accurate tracking of objects is a key element in many computer vision applications, often solved by iterated individual object tracking or instance segmentation followed by object matching. Here we introduce cross-classification…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

Multimodal Large Language Models (MLLMs) have made significant progress in tasks such as image captioning and question answering. However, while these models can generate realistic captions, they often struggle with providing precise…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…

Object detection, one of the most fundamental and challenging problems in computer vision, seeks to locate object instances from a large number of predefined categories in natural images. Deep learning techniques have emerged as a powerful…

Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…