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

In-context segmentation aims at segmenting novel images using a few labeled example images, termed as "in-context examples", exploring content similarities between examples and the target. The resulting models can be generalized seamlessly…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

This paper describes a fast and accurate semantic image segmentation approach that encodes not only the discriminative features from deep neural networks, but also the high-order context compatibility among adjacent objects as well as low…

Neuromorphic image sensors produce activity-driven spiking output at every pixel. These low-power consuming imagers which encode visual change information in the form of spikes help reduce computational overhead and realize complex…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Recent Semantic SLAM methods combine classical geometry-based estimation with deep learning-based object detection or semantic segmentation. In this paper we evaluate the quality of semantic maps generated by state-of-the-art class- and…

Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive crop-based feature extraction. To overcome this fundamental…

Point cloud registration is important in computer-aided interventions (CAI). While learning-based point cloud registration methods have been developed, their clinical application is hampered by issues of generalizability and explainability.…

Visual concept discovery has long been deemed important to improve interpretability of neural networks, because a bank of semantically meaningful concepts would provide us with a starting point for building machine learning models that…

Parts provide a good intermediate representation of objects that is robust with respect to the camera, pose and appearance variations. Existing works on part segmentation is dominated by supervised approaches that rely on large amounts of…

High-resolution (5MP+) stereo vision systems are essential for advancing robotic capabilities, enabling operation over longer ranges and generating significantly denser and accurate 3D point clouds. However, realizing the full potential of…

Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…

Both object detection in and semantic segmentation of camera images are important tasks for automated vehicles. Object detection is necessary so that the planning and behavior modules can reason about other road users. Semantic segmentation…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…