相关论文: Addressing the Sim2Real Gap in Robotic 3D Object C…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

We introduce the task of dense captioning in 3D scans from commodity RGB-D sensors. As input, we assume a point cloud of a 3D scene; the expected output is the bounding boxes along with the descriptions for the underlying objects. To…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Existing neural field representations for 3D object reconstruction either (1) utilize object-level representations, but suffer from low-quality details due to conditioning on a global latent code, or (2) are able to perfectly reconstruct…

Convolutional Neural Networks are a well-known staple of modern image classification. However, it can be difficult to assess the quality and robustness of such models. Deep models are known to perform well on a given training and estimation…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

While convolutional neural networks have brought significant advances in robot vision, their ability is often limited to closed world scenarios, where the number of semantic concepts to be recognized is determined by the available training…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

In this paper we tackle the problem of estimating the 3D pose of object instances, using convolutional neural networks. State of the art methods usually solve the challenging problem of regression in angle space indirectly, focusing on…

Object detection, one of the most fundamental and challenging problems in computer vision, seeks to locate object instances from a large number of predefined categories in natural images. Deep learning techniques have emerged as a powerful…

Collecting and annotating real-world data for the development of object detection models is a time-consuming and expensive process. In the military domain in particular, data collection can also be dangerous or infeasible. Training models…

The existing deep learning models suffer from out-of-distribution (o.o.d.) performance drop in computer vision tasks. In comparison, humans have a remarkable ability to interpret images, even if the scenes in the images are rare, thanks to…

Recognising relevant objects or object states in its environment is a basic capability for an autonomous robot. The dominant approach to object recognition in images and range images is classification by supervised machine learning,…

The success of deep reinforcement learning (RL) and imitation learning (IL) in vision-based robotic manipulation typically hinges on the expense of large scale data collection. With simulation, data to train a policy can be collected…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…