相关论文: Predicting Out-of-View Feature Points for Model-Ba…

Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…

Extreme amodal detection is the task of inferring the 2D location of objects that are not fully visible in the input image but are visible within an expanded field-of-view. This differs from amodal detection, where the object is partially…

Patch-level image representation is very important for object classification and detection, since it is robust to spatial transformation, scale variation, and cluttered background. Many existing methods usually require fine-grained…

Most of computer vision focuses on what is in an image. We propose to train a standalone object-centric context representation to perform the opposite task: seeing what is not there. Given an image, our context model can predict where…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

The detection of out of distribution samples for image classification has been widely researched. Safety critical applications, such as autonomous driving, would benefit from the ability to localise the unusual objects causing the image to…

An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

Deep networks have recently enjoyed enormous success when applied to recognition and classification problems in computer vision, but their use in graphics problems has been limited. In this work, we present a novel deep architecture that…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

It is crucial to detect when an instance lies downright too far from the training samples for the machine learning model to be trusted, a challenge known as out-of-distribution (OOD) detection. For neural networks, one approach to this task…

Vision-based prediction algorithms have a wide range of applications including autonomous driving, surveillance, human-robot interaction, weather prediction. The objective of this paper is to provide an overview of the field in the past…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn…

Out-of-distribution (OOD) detection is essential for determining when a supervised model encounters inputs that differ meaningfully from its training distribution. While widely studied in classification, OOD detection for regression and…

Accurate trajectory prediction is essential for the safe operation of autonomous vehicles in real-world environments. Even well-trained machine learning models may produce unreliable predictions due to discrepancies between training data…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

Recent object detection systems rely on two critical steps: (1) a set of object proposals is predicted as efficiently as possible, and (2) this set of candidate proposals is then passed to an object classifier. Such approaches have been…

Dense image alignment from RGB-D images remains a critical issue for real-world applications, especially under challenging lighting conditions and in a wide baseline setting. In this paper, we propose a new framework to learn a pixel-wise…