相关论文: Density Weighted Connectivity of Grass Pixels in I…
Image matting refers to the estimation of the opacity of foreground objects. It requires correct contours and fine details of foreground objects for the matting results. To better accomplish human image matting tasks, we propose the Cascade…
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with…
Dexterous grasping in cluttered environments presents substantial challenges due to the high degrees of freedom of dexterous hands, occlusion, and potential collisions arising from diverse object geometries and complex layouts. To address…
Selective weeding is one of the key challenges in the field of agriculture robotics. To accomplish this task, a farm robot should be able to accurately detect plants and to distinguish them between crop and weeds. Most of the promising…
Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…
We propose {graphical sure screening}, or GRASS, a very simple and computationally-efficient screening procedure for recovering the structure of a Gaussian graphical model in the high-dimensional setting. The GRASS estimate of the…
Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…
This work centers on the communication aspects of decentralized learning over wireless networks, using consensus-based decentralized stochastic gradient descent (D-SGD). Considering the actual communication cost or delay caused by…
In this work we introduce Dynamic Random Geometric Graphs as a basic rough model for mobile wireless sensor networks, where communication distances are set to the known threshold for connectivity of static random geometric graphs. We…
Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This paper introduces Grasp the Graph 2.0 (GtG 2.0) method, a…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…
Deforestation detection using satellite images can make an important contribution to forest management. Current approaches can be broadly divided into those that compare two images taken at similar periods of the year and those that monitor…
Random forests are considered one of the best out-of-the-box classification and regression algorithms due to their high level of predictive performance with relatively little tuning. Pairwise proximities can be computed from a trained…
Assessment of dietary intake has primarily relied on self-report instruments, which are prone to measurement errors. Dietary assessment methods have increasingly incorporated technological advances particularly mobile, image based…
In this letter, we propose an online scalar field estimation algorithm of unknown environments using a distributed Gaussian process (DGP) framework in wireless sensor networks (WSNs). While the kernel-based Gaussian process (GP) has been…
One of the main challenges since the advancement of convolutional neural networks is how to connect the extracted feature map to the final classification layer. VGG models used two sets of fully connected layers for the classification part…
Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…
Robotic grasp detection for novel objects is a challenging task, but for the last few years, deep learning based approaches have achieved remarkable performance improvements, up to 96.1% accuracy, with RGB-D data. In this paper, we propose…
This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and then classifies each of them as a good or a bad grasp. Our…