相关论文: Simultaneous Localization, Mapping, and Manipulati…

We study the problem of unsupervised physical object discovery. While existing frameworks aim to decompose scenes into 2D segments based off each object's appearance, we explore how physics, especially object interactions, facilitates…

Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

With the availability of egocentric 3D hand-object interaction datasets, there is increasing interest in developing unified models for hand-object pose estimation and action recognition. However, existing methods still struggle to recognise…

Multiple Object Tracking (MOT) is a long-standing task in computer vision. Current approaches based on the tracking by detection paradigm either require some sort of domain knowledge or supervision to associate data correctly into tracks.…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

Despite significant recent progress, machine vision systems lag considerably behind their biological counterparts in performance, scalability, and robustness. A distinctive hallmark of the brain is its ability to automatically discover and…

Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

3D models of manufactured objects are important for populating virtual worlds and for synthetic data generation for vision and robotics. To be most useful, such objects should be articulated: their parts should move when interacted with.…

Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…

We introduce KeypointDeformer, a novel unsupervised method for shape control through automatically discovered 3D keypoints. We cast this as the problem of aligning a source 3D object to a target 3D object from the same object category. Our…

This paper studies the problem of object discovery -- separating objects from the background without manual labels. Existing approaches utilize appearance cues, such as color, texture, and location, to group pixels into object-like regions.…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Object discovery is a core task in computer vision. While fast progresses have been made in supervised object detection, its unsupervised counterpart remains largely unexplored. With the growth of data volume, the expensive cost of…

Recent studies on unsupervised object detection based on spatial attention have achieved promising results. Models, such as AIR and SPAIR, output "what" and "where" latent variables that represent the attributes and locations of objects in…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…