相关论文: SegICP: Integrated Deep Semantic Segmentation and …

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

6D object pose estimation holds essential roles in various fields, particularly in the grasping of industrial workpieces. Given challenges like rust, high reflectivity, and absent textures, this paper introduces a point cloud based pose…

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…

Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D poses in cluttered scenes, presenting significant challenges for model generalizability. Fortunately, the recent Segment Anything Model (SAM) has…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

Recent advancements have led to a proliferation of machine learning systems used to assist humans in a wide range of tasks. However, we are still far from accurate, reliable, and resource-efficient operations of these systems. For robot…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

The task of 6DoF object pose estimation is one of the fundamental problems of 3D vision with many practical applications such as industrial automation. Traditional deep learning approaches for this task often require extensive training data…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

We present a box-free bottom-up approach for the tasks of pose estimation and instance segmentation of people in multi-person images using an efficient single-shot model. The proposed PersonLab model tackles both semantic-level reasoning…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

We propose a new method for semantic instance segmentation, by first computing how likely two pixels are to belong to the same object, and then by grouping similar pixels together. Our similarity metric is based on a deep, fully…

Utilizing transformer architectures for semantic segmentation of high-resolution images is hindered by the attention's quadratic computational complexity in the number of tokens. A solution to this challenge involves decreasing the number…

Achieving high-quality semantic segmentation predictions using only image-level labels enables a new level of real-world applicability. Although state-of-the-art networks deliver reliable predictions, the amount of handcrafted pixel-wise…

Autonomous robotic systems applied to new domains require an abundance of expensive, pixel-level dense labels to train robust semantic segmentation models under full supervision. This study proposes a model-agnostic Depth Edge Alignment…

In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection,…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Over the past years, computer vision community has contributed to enormous progress in semantic image segmentation, a per-pixel classification task, crucial for dense scene understanding and rapidly becoming vital in lots of real-world…

Semantic segmentation is a crucial task for robot navigation and safety. However, current supervised methods require a large amount of pixelwise annotations to yield accurate results. Labeling is a tedious and time consuming process that…