相关论文: Support Relation Analysis for Objects in Multiple …

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…

We present a robotic grasping system that uses a single external monocular RGB camera as input. The object-to-robot pose is computed indirectly by combining the output of two neural networks: one that estimates the object-to-camera pose,…

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…

We introduce a method for modeling a configuration of objects in 2D or 3D images using a mathematical "skeletal linking structure" which will simultaneously capture the individual shape features of the objects and their positional…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

While computer vision has advanced considerably for general object detection and tracking, the specific problem of fast-moving tiny objects remains underexplored. This paper addresses the significant challenge of detecting and tracking…

Reasoning about the relationships between object pairs in images is a crucial task for holistic scene understanding. Most of the existing works treat this task as a pure visual classification task: each type of relationship or phrase is…

Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…

The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…

If a robot is supposed to roam an environment and interact with objects, it is often necessary to know all possible objects in advance, so that a database with models of all objects can be generated for visual identification. However, this…

3D hand pose estimation based on RGB images has been studied for a long time. Most of the studies, however, have performed frame-by-frame estimation based on independent static images. In this paper, we attempt to not only consider the…

Accurate video understanding involves reasoning about the relationships between actors, objects and their environment, often over long temporal intervals. In this paper, we propose a message passing graph neural network that explicitly…

Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…

In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…

Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…

Object reconstruction is an important task in many fields of application as it allows to generate digital representations of our physical world used as base for analysis, planning, construction, visualization or other aims. A reconstruction…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…