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

We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional…

This paper proposes an enhancement of convolutional neural networks for object detection in resource-constrained robotics through a geometric input transformation called Visual Mesh. It uses object geometry to create a graph in vision…

Recently, Convolutional Neural Networks have shown promising results for 3D geometry prediction. They can make predictions from very little input data such as a single color image. A major limitation of such approaches is that they only…

The human visual system processes images with varied degrees of resolution, with the fovea, a small portion of the retina, capturing the highest acuity region, which gradually declines toward the field of view's periphery. However, the…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

Object segmentation and structure localization are important steps in automated image analysis pipelines for microscopy images. We present a convolution neural network (CNN) based deep learning architecture for segmentation of objects in…

Recording surgery in operating rooms is an essential task for education and evaluation of medical treatment. However, recording the desired targets, such as the surgery field, surgical tools, or doctor's hands, is difficult because the…

Unsupervised learning of object-centric representations in dynamic visual scenes is challenging. Unlike most previous approaches that learn to decompose 2D images, we present DynaVol, a 3D scene generative model that unifies geometric…

Specular reflections pose a significant challenge for object segmentation, as their sharp intensity transitions often mislead both conventional algorithms and deep learning based methods. However, as the specular reflection must lie on the…

Object permanence in humans is a fundamental cue that helps in understanding persistence of objects, even when they are fully occluded in the scene. Present day methods in object segmentation do not account for this amodal nature of the…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

The visual system of a robot has different requirements depending on the application: it may require high accuracy or reliability, be constrained by limited resources or need fast adaptation to dynamically changing environments. In this…

Computer vision algorithms with pixel-wise labeling tasks, such as semantic segmentation and salient object detection, have gone through a significant accuracy increase with the incorporation of deep learning. Deep segmentation methods…

Learning to understand and infer object functionalities is an important step towards robust visual intelligence. Significant research efforts have recently focused on segmenting the object parts that enable specific types of human-object…

In the last few years, there has been a growing interest in taking advantage of the 360 panoramic images potential, while managing the new challenges they imply. While several tasks have been improved thanks to the contextual information…

Discovering 3D arrangements of objects from single indoor images is important given its many applications including interior design, content creation, etc. Although heavily researched in the recent years, existing approaches break down…

In this study, we develop an unsupervised coarse-to-fine video analysis framework and prototype system to extract a salient object in a video sequence. This framework starts from tracking grid-sampled points along temporal frames, typically…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

We propose an interactive approach for 3D instance segmentation, where users can iteratively collaborate with a deep learning model to segment objects in a 3D point cloud directly. Current methods for 3D instance segmentation are generally…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…