相关论文: Unseen Object Instance Segmentation for Robotic En…

This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods…

We address the problem of instance-level semantic segmentation, which aims at jointly detecting, segmenting and classifying every individual object in an image. In this context, existing methods typically propose candidate objects, usually…

Object detection and instance segmentation are two fundamental computer vision tasks. They are closely correlated but their relations have not yet been fully explored in most previous work. This paper presents RDSNet, a novel deep…

In this paper we introduce a system for unsupervised object discovery and segmentation of RGBD-images. The system models the sensor noise directly from data, allowing accurate segmentation without sensor specific hand tuning of measurement…

Segmentation of unseen industrial parts is essential for autonomous industrial systems. However, industrial components are texture-less, reflective, and often found in cluttered and unstructured environments with heavy occlusion, which…

3D instance segmentation is fundamental to geometric understanding of the world around us. Existing methods for instance segmentation of 3D scenes rely on supervision from expensive, manual 3D annotations. We propose UnScene3D, the first…

Multi-instance video object segmentation is to segment specific instances throughout a video sequence in pixel level, given only an annotated first frame. In this paper, we implement an effective fully convolutional networks with U-Net…

We present a novel object detection pipeline for localization and recognition in three dimensional environments. Our approach makes use of an RGB-D sensor and combines state-of-the-art techniques from the robotics and computer vision…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling…

Segmentation of organs or lesions from medical images plays an essential role in many clinical applications such as diagnosis and treatment planning. Though Convolutional Neural Networks (CNN) have achieved the state-of-the-art performance…

Inspired by recent advances of deep learning in instance segmentation and object tracking, we introduce video object segmentation problem as a concept of guided instance segmentation. Our model proceeds on a per-frame basis, guided by the…

Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangement, including shifting,…

By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion. Solving this task for composite scenes (such as object…

Most scenes in practical applications are dynamic scenes containing moving objects, so segmenting accurately moving objects is crucial for many computer vision applications. In order to efficiently segment out all moving objects in the…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

We address Unsupervised Video Object Segmentation (UVOS), the task of automatically generating accurate pixel masks for salient objects in a video sequence and of tracking these objects consistently through time, without any input about…

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…

Unknown Object Detection (UOD) aims to identify objects of unseen categories, differing from the traditional detection paradigm limited by the closed-world assumption. A key component of UOD is learning a generalized representation, i.e.…

This paper presents an end-to-end instance segmentation framework, termed SOIT, that Segments Objects with Instance-aware Transformers. Inspired by DETR \cite{carion2020end}, our method views instance segmentation as a direct set prediction…