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

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…

Object discovery -- separating objects from the background without manual labels -- is a fundamental open challenge in computer vision. Previous methods struggle to go beyond clustering of low-level cues, whether handcrafted (e.g., color,…

Unknown Object Detection (UOD) aims to identify objects of unseen categories, differing from the traditional detection paradigm limited by the closed-world assumption. A key component of UOD is learning a generalized representation, i.e.…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself…

The advancement of visual tracking has continuously been brought by deep learning models. Typically, supervised learning is employed to train these models with expensive labeled data. In order to reduce the workload of manual annotations…

This paper proposes a iterative visual recognition system for learning based randomized bin-picking. Since the configuration on randomly stacked objects while executing the current picking trial is just partially different from the…

Due to the problem of performance constraints of unsupervised video object detection, its large-scale application is limited. In response to this pain point, we propose another excellent method to solve this problematic point. By…

Passive methods for object detection and segmentation treat images of the same scene as individual samples and do not exploit object permanence across multiple views. Generalization to novel or difficult viewpoints thus requires additional…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…

3D object detection based on roadside cameras is an additional way for autonomous driving to alleviate the challenges of occlusion and short perception range from vehicle cameras. Previous methods for roadside 3D object detection mainly…

Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…

In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…

This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

We propose a self-supervised training approach for learning view-invariant dense visual descriptors using image augmentations. Unlike existing works, which often require complex datasets, such as registered RGBD sequences, we train on an…