相关论文: 3D Object Segmentation for Shelf Bin Picking by Hu…

Given an image, we would like to learn to detect objects belonging to particular object categories. Common object detection methods train on large annotated datasets which are annotated in terms of bounding boxes that contain the object of…

Object co-segmentation is to segment the shared objects in multiple relevant images, which has numerous applications in computer vision. This paper presents a spatial and semantic modulated deep network framework for object co-segmentation.…

Recently, the emergence of the large-scale vision-language model (VLM), such as CLIP, has opened the way towards open-world object perception. Many works have explored the utilization of pre-trained VLM for the challenging open-vocabulary…

Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…

The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…

Whole brain segmentation is an important neuroimaging task that segments the whole brain volume into anatomically labeled regions-of-interest. Convolutional neural networks have demonstrated good performance in this task. Existing…

We propose a novel video object segmentation algorithm based on pixel-level matching using Convolutional Neural Networks (CNN). Our network aims to distinguish the target area from the background on the basis of the pixel-level similarity…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…

We propose an end-to-end learning framework for generating foreground object segmentations. Given a single novel image, our approach produces pixel-level masks for all "object-like" regions---even for object categories never seen during…

The key challenge of multi-view indoor 3D object detection is to infer accurate geometry information from images for precise 3D detection. Previous method relies on NeRF for geometry reasoning. However, the geometry extracted from NeRF is…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Image segmentation is to extract meaningful objects from a given image. For degraded images due to occlusions, obscurities or noises, the accuracy of the segmentation result can be severely affected. To alleviate this problem, prior…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

Deep convolutional neural networks (DCNNs) are powerful models that yield impressive results at object classification. However, recent work has shown that they do not generalize well to partially occluded objects and to mask attacks. In…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

In this paper, we present a novel deep neural network architecture for joint class-agnostic object segmentation and grasp detection for robotic picking tasks using a parallel-plate gripper. We introduce depth-aware Coordinate Convolution…

Occupancy Network has recently attracted much attention in autonomous driving. Instead of monocular 3D detection and recent bird's eye view(BEV) models predicting 3D bounding box of obstacles, Occupancy Network predicts the category of…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

In this thesis we discuss architectural designs and training methods for a neural network to have the ability of dissecting an image into objects of interest without supervision. The main challenge in 2D unsupervised object segmentation is…