相关论文: Bingham Procrustean Alignment for Object Detection…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…

We give a principled method for decomposing the predictive uncertainty of a model into aleatoric and epistemic components with explicit semantics relating them to the real-world data distribution. While many works in the literature have…

We consider the problem of learning object arrangements in a 3D scene. The key idea here is to learn how objects relate to human poses based on their affordances, ease of use and reachability. In contrast to modeling object-object…

We present a novel object detection pipeline for localization and recognition in three dimensional environments. Our approach makes use of an RGB-D sensor and combines state-of-the-art techniques from the robotics and computer vision…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

The local arrangement of atoms is one of the most important predictors of mechanical and functional properties of materials. However, algorithms for identifying the geometrical arrangements of atoms in complex materials systems are lacking.…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

Recognizing places using Lidar in large-scale environments is challenging due to the sparse nature of point cloud data. In this paper we present BVMatch, a Lidar-based frame-to-frame place recognition framework, that is capable of…

"Background subtraction" is an old technique for finding moving objects in a video sequence for example, cars driving on a freeway. The idea is that subtracting the current image from a timeaveraged background image will leave only…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

This paper proposes a novel semi-supervised method on object recognition. First, based on Boost Picking, a universal algorithm, Boost Picking Teaching (BPT), is proposed to train an effective binary-classifier just using a few labeled data…

Projection Pursuit is a classic exploratory technique for finding interesting projections of a dataset. We propose a method for recovering projections containing either Imbalanced Clusters or a Bernoulli-Rademacher distribution using a…

Dense image alignment from RGB-D images remains a critical issue for real-world applications, especially under challenging lighting conditions and in a wide baseline setting. In this paper, we propose a new framework to learn a pixel-wise…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

Divergence is not only an important mathematical concept in information theory, but also applied to machine learning problems such as low-dimensional embedding, manifold learning, clustering, classification, and anomaly detection. We…

A natural way to improve the detection of objects is to consider the contextual constraints imposed by the detection of additional objects in a given scene. In this work, we exploit the spatial relations between objects in order to improve…