相关论文: Multiview RGB-D Dataset for Object Instance Detect…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Among the most important prerequisites for creating and evaluating 6D object pose detectors are datasets with labeled 6D poses. With the advent of deep learning, demand for such datasets is growing continuously. Despite the fact that some…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Instance detection (InsDet) is a long-lasting problem in robotics and computer vision, aiming to detect object instances (predefined by some visual examples) in a cluttered scene. Despite its practical significance, its advancement is…

Since the launch of the Microsoft Kinect, scores of RGBD datasets have been released. These have propelled advances in areas from reconstruction to gesture recognition. In this paper we explore the field, reviewing datasets across eight…

Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient…

We introduce IndustryShapes, a new RGB-D benchmark dataset of industrial tools and components, designed for both instance-level and novel object 6D pose estimation approaches. The dataset provides a realistic and application-relevant…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

The ability to recognize objects is an essential skill for a robotic system acting in human-populated environments. Despite decades of effort from the robotic and vision research communities, robots are still missing good visual perceptual…

RGB-D data is essential for solving many problems in computer vision. Hundreds of public RGB-D datasets containing various scenes, such as indoor, outdoor, aerial, driving, and medical, have been proposed. These datasets are useful for…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Human action recognition from RGB-D (Red, Green, Blue and Depth) data has attracted increasing attention since the first work reported in 2010. Over this period, many benchmark datasets have been created to facilitate the development and…

This paper aims at developing a faster and a more accurate solution to the amodal 3D object detection problem for indoor scenes. It is achieved through a novel neural network that takes a pair of RGB-D images as the input and delivers…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…