相关论文: Incremental Learning for Robot Perception through …

Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of realising stable and efficient robot motions for…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…

This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…

In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users and robots. With the existing HRI pipelines, users can teach…

This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

Visual intelligence at the edge is becoming a growing necessity for low latency applications and situations where real-time decision is vital. Object detection, the first step in visual data analytics, has enjoyed significant improvements…

While initially devised for image categorization, convolutional neural networks (CNNs) are being increasingly used for the pixelwise semantic labeling of images. However, the proper nature of the most common CNN architectures makes them…

Recently, Convolutional Neural Networks (CNNs) have shown promising performance in super-resolution (SR). However, these methods operate primarily on Low Resolution (LR) inputs for memory efficiency but this limits, as we demonstrate, their…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

How can a robot quickly identify and recognize new objects shown to it during a human demonstration? Existing closed-set object detectors frequently fail at this because the objects are out-of-distribution. While open-set detectors (e.g.,…

Transparent object perception is a rapidly developing research problem in artificial intelligence. The ability to perceive transparent objects enables robots to achieve higher levels of autonomy, unlocking new applications in various…

The ability to distinguish between the self and the background is of paramount importance for robotic tasks. The particular case of hands, as the end effectors of a robotic system that more often enter into contact with other elements of…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…

Object detection systems based on the deep convolutional neural network (CNN) have recently made ground- breaking advances on several object detection benchmarks. While the features learned by these high-capacity neural networks are…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Most recent gains in visual recognition have originated from the inclusion of attention mechanisms in deep convolutional networks (DCNs). Because these networks are optimized for object recognition, they learn where to attend using only a…

We introduce a novel robotic system for improving unseen object instance segmentation in the real world by leveraging long-term robot interaction with objects. Previous approaches either grasp or push an object and then obtain the…