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

Performing data augmentation for learning deep neural networks is well known to be important for training visual recognition systems. By artificially increasing the number of training examples, it helps reducing overfitting and improves…

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…

We study how to leverage Web images to augment human-curated object detection datasets. Our approach is two-pronged. On the one hand, we retrieve Web images by image-to-image search, which incurs less domain shift from the curated data than…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Multi-object grasping is a challenging task. It is important for energy and cost-efficient operation of industrial crane manipulators, such as those used to collect tree logs from the forest floor and on forest machines. In this work, we…

The current state-of-the-art object recognition algorithms, deep convolutional neural networks (DCNNs), are inspired by the architecture of the mammalian visual system, and are capable of human-level performance on many tasks. However, even…

The requirement of large amounts of annotated images has become one grand challenge while training deep neural network models for various visual detection and recognition tasks. This paper presents a novel image synthesis technique that…

Dense Object Nets (DONs) by Florence, Manuelli and Tedrake (2018) introduced dense object descriptors as a novel visual object representation for the robotics community. It is suitable for many applications including object grasping, policy…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…

Human 3D pose estimation from a single image is a challenging task with numerous applications. Convolutional Neural Networks (CNNs) have recently achieved superior performance on the task of 2D pose estimation from a single image, by…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

It is challenging to train a robust object detector under the supervised learning setting when the annotated data are scarce. Thus, previous approaches tackling this problem are in two categories: semi-supervised learning models that…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Deep neural object detection or segmentation networks are commonly trained with pristine, uncompressed data. However, in practical applications the input images are usually deteriorated by compression that is applied to efficiently transmit…

The increasing demand for autonomous machines in construction environments necessitates the development of robust object detection algorithms that can perform effectively across various weather and environmental conditions. This paper…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

The availability of large image data sets has been a crucial factor in the success of deep learning-based classification and detection methods. While data sets for everyday objects are widely available, data for specific industrial…

Training data is the key ingredient for deep learning approaches, but difficult to obtain for the specialized domains often encountered in robotics. We describe a synthesis pipeline capable of producing training data for cluttered scene…

Object compositing based on 2D images is a challenging problem since it typically involves multiple processing stages such as color harmonization, geometry correction and shadow generation to generate realistic results. Furthermore,…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…