相关论文: Video Object Segmentation-based Visual Servo Contr…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…

How can we segment varying numbers of objects where each specific object represents its own separate class? To make the problem even more realistic, how can we add and delete classes on the fly without retraining or fine-tuning? This is the…

This paper addresses the task of segmenting moving objects in unconstrained videos. We introduce a novel two-stream neural network with an explicit memory module to achieve this. The two streams of the network encode spatial and temporal…

In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…

This paper addresses the problem of learning to estimate the depth of detected objects given some measurement of camera motion (e.g., from robot kinematics or vehicle odometry). We achieve this by 1) designing a recurrent neural network…

Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Visual object tracking is a fundamental video task in computer vision. Recently, the notably increasing power of perception algorithms allows the unification of single/multiobject and box/mask-based tracking. Among them, the Segment…

We present an approach for building an active agent that learns to segment its visual observations into individual objects by interacting with its environment in a completely self-supervised manner. The agent uses its current segmentation…

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…

We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by…

Existing deep learning based unsupervised video object segmentation methods still rely on ground-truth segmentation masks to train. Unsupervised in this context only means that no annotated frames are used during inference. As obtaining…

To learn object models for robotic manipulation, unsupervised methods cannot provide accurate object structural information and supervised methods require a large amount of manually labeled training samples, thus interactive object…

We use static object data to improve success detection for stacking objects on and nesting objects in one another. Such actions are necessary for certain robotics tasks, e.g., clearing a dining table or packing a warehouse bin. However,…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Current top-leading solutions for video object segmentation (VOS) typically follow a matching-based regime: for each query frame, the segmentation mask is inferred according to its correspondence to previously processed and the first…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…