相关论文: Geometry-Based Region Proposals for Real-Time Robo…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

Current neural networks-based object detection approaches processing LiDAR point clouds are generally trained from one kind of LiDAR sensors. However, their performances decrease when they are tested with data coming from a different LiDAR…

As a fundamental problem in computer vision, 3D object detection is experiencing rapid growth. To extract the point-wise features from the irregularly and sparsely distributed points, previous methods usually take a feature grouping module…

We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…

Object detection and recognition are important problems in computer vision. Since these problems are meta-heuristic, despite a lot of research, practically usable, intelligent, real-time, and dynamic object detection/recognition methods are…

In this paper, we propose and realize a new deep learning architecture for discovering symbolic representations for objects and their relations based on the self-supervised continuous interaction of a manipulator robot with multiple objects…

The ability to construct concise scene representations from sensor input is central to the field of robotics. This paper addresses the problem of robustly creating a 3D representation of a tabletop scene from a segmented RGB-D image. These…

Object detection serves as a significant step in improving performance of complex downstream computer vision tasks. It has been extensively studied for many years now and current state-of-the-art 2D object detection techniques proffer…

Region proposal algorithms play an important role in most state-of-the-art two-stage object detection networks by hypothesizing object locations in the image. Nonetheless, region proposal algorithms are known to be the bottleneck in most…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

For most industrial bin picking solutions, the pose of a workpiece is localized by matching a CAD model to point cloud obtained from 3D sensor. Distinguishing flat workpieces from bottom of the bin in point cloud imposes challenges in the…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Although recent advances in regional Convolutional Neural Networks (CNNs) enable them to outperform conventional techniques on standard object detection and classification tasks, their response time is still slow for real-time performance.…

Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…

This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…

This paper focuses on the sim-to-real issue of RGB-D grasp detection and formulates it as a domain adaptation problem. In this case, we present a global-to-local method to address hybrid domain gaps in RGB and depth data and insufficient…

This paper proposes a new optical camouflage system that uses RGB-D cameras, for acquiring point cloud of background scene, and tracking observers eyes. This system enables a user to conceal an object located behind a display that…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…