相关论文: Deep Mixture Density Network for Probabilistic Obj…

For humans, understanding the relationships between objects using visual signals is intuitive. For artificial intelligence, however, this task remains challenging. Researchers have made significant progress studying semantic relationship…

Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…

In this paper, we address the task of detecting semantic parts on partially occluded objects. We consider a scenario where the model is trained using non-occluded images but tested on occluded images. The motivation is that there are…

Dense image alignment from RGB-D images remains a critical issue for real-world applications, especially under challenging lighting conditions and in a wide baseline setting. In this paper, we propose a new framework to learn a pixel-wise…

Cross-domain object detection is more challenging than object classification since multiple objects exist in an image and the location of each object is unknown in the unlabeled target domain. As a result, when we adapt features of…

This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and then classifies each of them as a good or a bad grasp. Our…

Anomaly detection is a field of intense research. Identifying low probability events in data/images is a challenging problem given the high-dimensionality of the data, especially when no (or little) information about the anomaly is…

3D microscopy is key in the investigation of diverse biological systems, and the ever increasing availability of large datasets demands automatic cell identification methods that not only are accurate, but also can imply the uncertainty in…

Our work addresses the problem of learning to localize objects in an open-world setting, i.e., given the bounding box information of a limited number of object classes during training, the goal is to localize all objects, belonging to both…

The use of object detection algorithms is becoming increasingly important in autonomous vehicles, and object detection at high accuracy and a fast inference speed is essential for safe autonomous driving. A false positive (FP) from a false…

Compared to typical multi-sensor systems, monocular 3D object detection has attracted much attention due to its simple configuration. However, there is still a significant gap between LiDAR-based and monocular-based methods. In this paper,…

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…

In bin-picking scenarios, multiple instances of an object of interest are stacked in a pile randomly, and hence, the instances are inherently subjected to the challenges: severe occlusion, clutter, and similar-looking distractors. Most…

Object detection systems based on the deep convolutional neural network (CNN) have recently made ground- breaking advances on several object detection benchmarks. While the features learned by these high-capacity neural networks are…

In object detection, determining which anchors to assign as positive or negative samples, known as anchor assignment, has been revealed as a core procedure that can significantly affect a model's performance. In this paper we propose a…

This paper focuses on camouflaged object detection (COD), which is a task to detect objects hidden in the background. Most of the current COD models aim to highlight the target object directly while outputting ambiguous camouflaged…

In the field of remote sensing, we often utilize oriented bounding boxes (OBB) to bound the objects. This approach significantly reduces the overlap among dense detection boxes and minimizes the inclusion of background content within the…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

Recent findings show that deep convolutional neural networks (DCNNs) do not generalize well under partial occlusion. Inspired by the success of compositional models at classifying partially occluded objects, we propose to integrate…