相关论文: Associating Grasp Configurations with Hierarchical…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…

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…

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…

Recent results indicate that the generic descriptors extracted from the convolutional neural networks are very powerful. This paper adds to the mounting evidence that this is indeed the case. We report on a series of experiments conducted…

Recent 2D-to-3D human pose estimation works tend to utilize the graph structure formed by the topology of the human skeleton. However, we argue that this skeletal topology is too sparse to reflect the body structure and suffer from serious…

The purpose of this paper is to design a solution to the problem of facial recognition by use of convolutional neural networks, with the intention of applying the solution in a camera-based home-entry access control system. More…

Recent advances in deep learning have led to significant progress in the computer vision field, especially for visual object recognition tasks. The features useful for object classification are learned by feed-forward deep convolutional…

Most of the recent deep learning-based 3D human pose and mesh estimation methods regress the pose and shape parameters of human mesh models, such as SMPL and MANO, from an input image. The first weakness of these methods is an appearance…

Convolutional Neural Networks (CNNs) are commonly thought to recognise objects by learning increasingly complex representations of object shapes. Some recent studies suggest a more important role of image textures. We here put these…

Graph convolutional networks (GCNs) have proven to be an effective approach for 3D human pose estimation. By naturally modeling the skeleton structure of the human body as a graph, GCNs are able to capture the spatial relationships between…

Traditional approaches to building a large scale knowledge graph have usually relied on extracting information (entities, their properties, and relations between them) from unstructured text (e.g. Dbpedia). Recent advances in Convolutional…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Due to the fast processing-speed and robustness it can achieve, skeleton-based action recognition has recently received the attention of the computer vision community. The recent Convolutional Neural Network (CNN)-based methods have shown…

6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…

Convolutional Neural Networks (CNNs) have achieved superior performance on object image retrieval, while Bag-of-Words (BoW) models with handcrafted local features still dominate the retrieval of overlapping images in 3D reconstruction. In…

The purpose of gesture recognition is to recognize meaningful movements of human bodies, and gesture recognition is an important issue in computer vision. In this paper, we present a multimodal gesture recognition method based on 3D densely…

3D skeleton-based action recognition and motion prediction are two essential problems of human activity understanding. In many previous works: 1) they studied two tasks separately, neglecting internal correlations; 2) they did not capture…