相关论文: A Robotic 3D Perception System for Operating Room …

The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Driven by deep learning techniques, perception technology in autonomous driving has developed rapidly in recent years, enabling vehicles to accurately detect and interpret surrounding environment for safe and efficient navigation. To…

Multi-sensor fusion significantly enhances the accuracy and robustness of 3D semantic occupancy prediction, which is crucial for autonomous driving and robotics. However, most existing approaches depend on high-resolution images and complex…

Traditional control and task automation have been successfully demonstrated in a variety of structured, controlled environments through the use of highly specialized modeled robotic systems in conjunction with multiple sensors. However, the…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Global and local relational reasoning enable scene understanding models to perform human-like scene analysis and understanding. Scene understanding enables better semantic segmentation and object-to-object interaction detection. In the…

Accurate perception of the surrounding scene is helpful for robots to make reasonable judgments and behaviours. Therefore, developing effective scene representation and recognition methods are of significant importance in robotics.…

Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…

We introduce the first approach to solve the challenging problem of unsupervised 4D visual scene understanding for complex dynamic scenes with multiple interacting people from multi-view video. Our approach simultaneously estimates a…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…

The ability to adapt medical image segmentation networks for a novel class such as an unseen anatomical or pathological structure, when only a few labelled examples of this class are available from local healthcare providers, is…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

In this paper, we present a new approach to visual servoing for robotics, referred to as 3D Move to See (3DMTS), based on the principle of finding the next best view using a 3D camera array and a robotic manipulator to obtain multiple…