相关论文: Identifying Unknown Instances for Autonomous Drivi…

In order to function in unstructured environments, robots need the ability to recognize unseen objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However, the…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

While learning visuomotor skills in an end-to-end manner is appealing, deep neural networks are often uninterpretable and fail in surprising ways. For robotics tasks, such as autonomous driving, models that explicitly represent objects may…

We propose a new method for semantic instance segmentation, by first computing how likely two pixels are to belong to the same object, and then by grouping similar pixels together. Our similarity metric is based on a deep, fully…

Open-Set Object Detection (OSOD) has emerged as a contemporary research direction to address the detection of unknown objects. Recently, few works have achieved remarkable performance in the OSOD task by employing contrastive clustering to…

Existing 3D instance segmentation methods are predominated by the bottom-up design -- manually fine-tuned algorithm to group points into clusters followed by a refinement network. However, by relying on the quality of the clusters, these…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Real-world scenarios pose several challenges to deep learning based computer vision techniques despite their tremendous success in research. Deeper models provide better performance, but are challenging to deploy and knowledge distillation…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

Instance-aware segmentation of unseen objects is essential for a robotic system in an unstructured environment. Although previous works achieved encouraging results, they were limited to segmenting the only visible regions of unseen…

In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…

Object detection is a crucial task in computer vision that aims to identify and localize objects in images or videos. The recent advancements in deep learning and Convolutional Neural Networks (CNNs) have significantly improved the…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Automotive radar provides reliable environmental perception in all-weather conditions with affordable cost, but it hardly supplies semantic and geometry information due to the sparsity of radar detection points. With the development of…

Open-world Instance Segmentation (OIS) is a challenging task that aims to accurately segment every object instance appearing in the current observation, regardless of whether these instances have been labeled in the training set. This is…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

Developing data-efficient instance detection models that can handle rare object categories remains a key challenge in computer vision. However, existing research often overlooks data collection strategies and evaluation metrics tailored to…

We consider the problem of retrieving objects from image data and learning to classify them into meaningful semantic categories with minimal supervision. To that end, we propose a fully differentiable unsupervised deep clustering approach…