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

Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

This paper addresses the problem of tracking moving objects of variable appearance in challenging scenes rich with features and texture. Reliable tracking is of pivotal importance in surveillance applications. It is made particularly…

We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by…

Learning with complete or partial supervision is powerful but relies on ever-growing human annotation efforts. As a way to mitigate this serious problem, as well as to serve specific applications, unsupervised learning has emerged as an…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

In this paper we introduce a system for unsupervised object discovery and segmentation of RGBD-images. The system models the sensor noise directly from data, allowing accurate segmentation without sensor specific hand tuning of measurement…

A natural approach to generative modeling of videos is to represent them as a composition of moving objects. Recent works model a set of 2D sprites over a slowly-varying background, but without considering the underlying 3D scene that gives…

Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…

We propose a method for learning landmark detectors for visual objects (such as the eyes and the nose in a face) without any manual supervision. We cast this as the problem of generating images that combine the appearance of the object as…

We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene. MaskFusion recognizes, segments and assigns semantic class…

In this paper we address the problem of unsupervised localization of objects in single images. Compared to previous state-of-the-art method our method is fully unsupervised in the sense that there is no prior instance level or category…

This paper presents a novel yet intuitive approach to unsupervised feature learning. Inspired by the human visual system, we explore whether low-level motion-based grouping cues can be used to learn an effective visual representation.…

This paper presents a method of capturing objects appearances from its environment and it also describes how to recognize unknown appearances creating an eigenspace. This representation and recognition can be done automatically taking…

We tackle the challenging task of unsupervised object localization in this work. Recently, transformers trained with self-supervised learning have been shown to exhibit object localization properties without being trained for this task. In…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Common-sense physical reasoning is an essential ingredient for any intelligent agent operating in the real-world. For example, it can be used to simulate the environment, or to infer the state of parts of the world that are currently…