相关论文: Synthesizing Training Data for Object Detection in…

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

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…

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…

Modern machine learning models for scene understanding, such as depth estimation and object tracking, rely on large, high-quality datasets that mimic real-world deployment scenarios. To address data scarcity, we propose an end-to-end system…

We present a system for training deep neural networks for object detection using synthetic images. To handle the variability in real-world data, the system relies upon the technique of domain randomization, in which the parameters of the…

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…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution 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…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

Object detection models based on convolutional neural networks (CNNs) demonstrate impressive performance when trained on large-scale labeled datasets. While a generic object detector trained on such a dataset performs adequately in…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable…

Learning to insert an object instance into an image in a semantically coherent manner is a challenging and interesting problem. Solving it requires (a) determining a location to place an object in the scene and (b) determining its…

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…

The ability to segment unknown objects in depth images has potential to enhance robot skills in grasping and object tracking. Recent computer vision research has demonstrated that Mask R-CNN can be trained to segment specific categories of…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Real-time object detection in indoor settings is a challenging area of computer vision, faced with unique obstacles such as variable lighting and complex backgrounds. This field holds significant potential to revolutionize applications like…