相关论文: PERCH: Perception via Search for Multi-Object Reco…

Pose estimation of known objects is fundamental to tasks such as robotic grasping and manipulation. The need for reliable grasping imposes stringent accuracy requirements on pose estimation in cluttered, occluded scenes in dynamic…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Discovering 3D arrangements of objects from single indoor images is important given its many applications including interior design, content creation, etc. Although heavily researched in the recent years, existing approaches break down…

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…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Object detection is an algorithm that recognizes and locates the objects in the image and has a wide range of applications in the visual understanding of complex urban scenes. Existing object detection benchmarks mainly focus on a single…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

Autonomous robots deal with unexpected scenarios in real environments. Given input images, various visual perception tasks can be performed, e.g., semantic segmentation, depth estimation and normal estimation. These different tasks provide…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

This manuscript introduces the problem of prominent object detection and recognition inspired by the fact that human seems to priorities perception of scene elements. The problem deals with finding the most important region of interest,…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

We propose a framework to continuously learn object-centric representations for visual learning and understanding. Existing object-centric representations either rely on supervisions that individualize objects in the scene, or perform…

Modern computer vision applications rely on learning-based perception modules parameterized with neural networks for tasks like object detection. These modules frequently have low expected error overall but high error on atypical groups of…

Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…