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

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

Accurately estimating the shape of objects in dense clutters makes important contribution to robotic packing, because the optimal object arrangement requires the robot planner to acquire shape information of all existed objects. However,…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

The visual system of a robot has different requirements depending on the application: it may require high accuracy or reliability, be constrained by limited resources or need fast adaptation to dynamically changing environments. In this…

This paper studies zero-shot object recognition using event camera data. Guided by CLIP, which is pre-trained on RGB images, existing approaches achieve zero-shot object recognition by optimizing embedding similarities between event data…

Segmentation of objects in microscopy images is required for many biomedical applications. We introduce object-centric embeddings (OCEs), which embed image patches such that the spatial offsets between patches cropped from the same object…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Recent research has seen numerous supervised learning-based methods for 3D shape segmentation and remarkable performance has been achieved on various benchmark datasets. These supervised methods require a large amount of annotated data to…

We consider the problem of providing dense segmentation masks for object discovery in videos. We formulate the object discovery problem as foreground motion clustering, where the goal is to cluster foreground pixels in videos into different…

Image segmentation aims to partition an image according to the objects in the scene and is a fundamental step in analysing very high spatial-resolution (VHR) remote sensing imagery. Current methods struggle to effectively consider land…

We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

Deep metric learning algorithms have been utilized to learn discriminative and generalizable models which are effective for classifying unseen classes. In this paper, a novel noise tolerant deep metric learning algorithm is proposed. The…

In this paper, we tackle the problem of RGB-D semantic segmentation of indoor images. We take advantage of deconvolutional networks which can predict pixel-wise class labels, and develop a new structure for deconvolution of multiple…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

The physical and textural attributes of objects have been widely studied for recognition, detection and segmentation tasks in computer vision.~A number of datasets, such as large scale ImageNet, have been proposed for feature learning using…

We propose a new approach to learn to segment multiple image objects without manual supervision. The method can extract objects form still images, but uses videos for supervision. While prior works have considered motion for segmentation, a…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…