相关论文: Adaptive Continuous Visual Odometry from RGB-D Ima…

In this paper, we propose a new framework for online 3D scene perception. Conventional 3D scene perception methods are offline, i.e., take an already reconstructed 3D scene geometry as input, which is not applicable in robotic applications…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

Recently, some correlation filter based trackers with detection proposals have achieved state-of-the-art tracking results. However, a large number of redundant proposals given by the proposal generator may degrade the performance and speed…

Monocular visual odometry consists of the estimation of the position of an agent through images of a single camera, and it is applied in autonomous vehicles, medical robots, and augmented reality. However, monocular systems suffer from the…

Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…

Multi-modality of color and depth, i.e., RGB-D, is of great importance in recent research of indoor scene recognition. In this kind of data representation, depth map is able to describe the 3D structure of scenes and geometric relations…

The development of visual object tracking has continued for decades. Recent years, as the wide accessibility of the low-cost RGBD sensors, the task of visual object tracking on RGB-D videos has drawn much attention. Compared to conventional…

Recent advancements in deep neural networks have markedly enhanced the performance of computer vision tasks, yet the specialized nature of these networks often necessitates extensive data and high computational power. Addressing these…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

We study the problem of similarity learning and its application to image retrieval with large-scale data. The similarity between pairs of images can be measured by the distances between their high dimensional representations, and the…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Gradient clipping is commonly used in training deep neural networks partly due to its practicability in relieving the exploding gradient problem. Recently, \citet{zhang2019gradient} show that clipped (stochastic) Gradient Descent (GD)…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

We propose a novel unsupervised approach based on a two-stage object-centric adversarial framework that only needs object regions for detecting frame-level local anomalies in videos. The first stage consists in learning the correspondence…

Using the raw data from consumer-level RGB-D cameras as input, we propose a deep-learning based approach to efficiently generate RGB-D images with completed information in high resolution. To process the input images in low resolution with…

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…

Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose estimation due to its use of high-accuracy range measurements and immunity to ambient light conditions. However, the performance of LiDAR odometry varies…

Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

We present a novel multi-attentional convolutional architecture to tackle the problem of real-time RGB-D 6D object pose tracking of single, known objects. Such a problem poses multiple challenges originating both from the objects' nature…