相关论文: RGB-D Object Detection and Semantic Segmentation f…

Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from…

Efficient RGB-D semantic segmentation has received considerable attention in mobile robots, which plays a vital role in analyzing and recognizing environmental information. According to previous studies, depth information can provide…

The segmentation of drivable areas and road anomalies are critical capabilities to achieve autonomous navigation for robotic wheelchairs. The recent progress of semantic segmentation using deep learning techniques has presented effective…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

Image segmentation is the task of associating pixels in an image with their respective object class labels. It has a wide range of applications in many industries including healthcare, transportation, robotics, fashion, home improvement,…

Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…

This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…

The RGB-Depth (RGB-D) Video Object Segmentation (VOS) aims to integrate the fine-grained texture information of RGB with the spatial geometric clues of depth modality, boosting the performance of segmentation. However, off-the-shelf RGB-D…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

This project aims to develop a robust video surveillance system, which can segment videos into smaller clips based on the detection of activities. It uses CCTV footage, for example, to record only major events-like the appearance of a…

Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…

This paper focuses on a robotic picking tasks in cluttered scenario. Because of the diversity of objects and clutter by placing, it is much difficult to recognize and estimate their pose before grasping. Here, we use U-net, a special…

Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…

Recent advances in object segmentation have demonstrated that deep neural networks excel at object segmentation for specific classes in color and depth images. However, their performance is dictated by the number of classes and objects used…