相关论文: Self-Supervised Object-in-Gripper Segmentation fro…

Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

Object segmentation is a crucial problem that is usually solved by using supervised learning approaches over very large datasets composed of both images and corresponding object masks. Since the masks have to be provided at pixel level,…

Observable motion in videos can give rise to the definition of objects moving with respect to the scene. The task of segmenting such moving objects is referred to as motion segmentation and is usually tackled either by aggregating motion…

Unsupervised object discovery aims to localize objects in images, while removing the dependence on annotations required by most deep learning-based methods. To address this problem, we propose a fully unsupervised, bottom-up approach, for…

We study the problem of segmenting moving objects in unconstrained videos. Given a video, the task is to segment all the objects that exhibit independent motion in at least one frame. We formulate this as a learning problem and design our…

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…

To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…

This paper presents a novel yet intuitive approach to unsupervised feature learning. Inspired by the human visual system, we explore whether low-level motion-based grouping cues can be used to learn an effective visual representation.…

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…

This paper tackles the problem of semi-supervised video object segmentation, that is, segmenting an object in a sequence given its mask in the first frame. One of the main challenges in this scenario is the change of appearance of the…

We address an essential problem in computer vision, that of unsupervised object segmentation in video, where a main object of interest in a video sequence should be automatically separated from its background. An efficient solution to this…

How to make a segmentation model efficiently adapt to a specific video and to online target appearance variations are fundamentally crucial issues in the field of video object segmentation. In this work, a graph memory network is developed…

Semi-supervised video object segmentation is a task of segmenting the target object in a video sequence given only a mask annotation in the first frame. The limited information available makes it an extremely challenging task. Most previous…

Video object segmentation is a fundamental step in many advanced vision applications. Most existing algorithms are based on handcrafted features such as HOG, super-pixel segmentation or texture-based techniques, while recently deep features…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…