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

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance. To address these challenges, we propose a Deep Learning network that…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

The existing zero-shot detection approaches project visual features to the semantic domain for seen objects, hoping to map unseen objects to their corresponding semantics during inference. However, since the unseen objects are never…

Unsupervised 3D instance segmentation aims to segment objects from a 3D point cloud without any annotations. Existing methods face the challenge of either too loose or too tight clustering, leading to under-segmentation or…

Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in embodied robotic agents, fail to…

To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…

Deep Neural Networks (DNNs) are widely used for decision making in a myriad of critical applications, ranging from medical to societal and even judicial. Given the importance of these decisions, it is crucial for us to be able to interpret…

Recent advances in camera equipped drone applications and their widespread use increased the demand on vision based object detection algorithms for aerial images. Object detection process is inherently a challenging task as a generic…

Panoptic segmentation methods assign a known class to each pixel given in input. Even for state-of-the-art approaches, this inevitably enforces decisions that systematically lead to wrong predictions for objects outside the training…

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…

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…

In the past decade, object detection tasks are defined mostly by large public datasets. However, building object detection datasets is not scalable due to inefficient image collecting and labeling. Furthermore, most labels are still in the…

Box-supervised instance segmentation has recently attracted lots of research efforts while little attention is received in aerial image domain. In contrast to the general object collections, aerial objects have large intra-class variances…

In this work, we present a novel and effective framework to facilitate object detection with the instance-level segmentation information that is only supervised by bounding box annotation. Starting from the joint object detection and…

We present a weakly supervised instance segmentation algorithm based on deep community learning with multiple tasks. This task is formulated as a combination of weakly supervised object detection and semantic segmentation, where individual…

We address the problem of discovering 3D parts for objects in unseen categories. Being able to learn the geometry prior of parts and transfer this prior to unseen categories pose fundamental challenges on data-driven shape segmentation…

Multiple object video object segmentation is a challenging task, specially for the zero-shot case, when no object mask is given at the initial frame and the model has to find the objects to be segmented along the sequence. In our work, we…