相关论文: Learning RGB-D Feature Embeddings for Unseen Objec…

Despite rapid progress in scene segmentation in recent years, 3D segmentation methods are still limited when there is severe occlusion. The key challenge is estimating the segment boundaries of (partially) occluded objects, which are…

Unsupervised approaches to learning in neural networks are of substantial interest for furthering artificial intelligence, both because they would enable the training of networks without the need for large numbers of expensive annotations,…

Deep metric learning aims to learn an embedding function, modeled as deep neural network. This embedding function usually puts semantically similar images close while dissimilar images far from each other in the learned embedding space.…

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…

We present a robotic system for picking a target from a pile of objects that is capable of finding and grasping the target object by removing obstacles in the appropriate order. The fundamental idea is to segment instances with both visible…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

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…

Video object segmentation, i.e., the separation of a target object from background in video, has made significant progress on real and challenging videos in recent years. To leverage this progress in 3D applications, this paper addresses…

Open World Object Detection(OWOD) addresses realistic scenarios where unseen object classes emerge, enabling detectors trained on known classes to detect unknown objects and incrementally incorporate the knowledge they provide. While…

This paper presents a novel approach for segmenting moving objects in unconstrained environments using guided convolutional neural networks. This guiding process relies on foreground masks from independent algorithms (i.e. state-of-the-art…

Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…

We introduce 3D-SIS, a novel neural network architecture for 3D semantic instance segmentation in commodity RGB-D scans. The core idea of our method is to jointly learn from both geometric and color signal, thus enabling accurate instance…

This paper presents a novel deep learning architecture to classify structured objects in datasets with a large number of visually similar categories. We model sequences of images as linear-chain CRFs, and jointly learn the parameters from…

Object detection is a fundamental task in computer vision and has many applications in image processing. This paper proposes a new approach for object detection by applying scale invariant feature transform (SIFT) in an automatic…

This paper tackles the problem of video object segmentation, given some user annotation which indicates the object of interest. The problem is formulated as pixel-wise retrieval in a learned embedding space: we embed pixels of the same…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

The ability to localize and segment objects from unseen classes would open the door to new applications, such as autonomous object learning in active vision. Nonetheless, improving the performance on unseen classes requires additional…

Majority of the current dimensionality reduction or retrieval techniques rely on embedding the learned feature representations onto a computable metric space. Once the learned features are mapped, a distance metric aids the bridging of gaps…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…