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

Segmenting unseen object instances in cluttered environments is an important capability that robots need when functioning in unstructured environments. While previous methods have exhibited promising results, they still tend to provide…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…

Learning the distance metric between pairs of examples is of great importance for learning and visual recognition. With the remarkable success from the state of the art convolutional neural networks, recent works have shown promising…

While recent research in image understanding has often focused on recognizing more types of objects, understanding more about the objects is just as important. Recognizing object parts and attributes has been extensively studied before, yet…

We propose an end-to-end learning framework for segmenting generic objects in videos. Our method learns to combine appearance and motion information to produce pixel level segmentation masks for all prominent objects in videos. We formulate…

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…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

Acquiring knowledge about object interactions and affordances can facilitate scene understanding and human-robot collaboration tasks. As humans tend to use objects in many different ways depending on the scene and the objects' availability,…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

Deep learning has proved particularly useful for semantic segmentation, a fundamental image analysis task. However, the standard deep learning methods need many training images with ground-truth pixel-wise annotations, which are usually…

Recently, learning frameworks have shown the capability of inferring the accurate shape, pose, and texture of an object from a single RGB image. However, current methods are trained on image collections of a single category in order to…

Incremental or continual learning has been extensively studied for image classification tasks to alleviate catastrophic forgetting, a phenomenon that earlier learned knowledge is forgotten when learning new concepts. For class incremental…

3D Gaussian Splatting (3DGS) and Neural Radiance Fields (NeRF) have advanced novel-view synthesis. Recent methods extend multi-view 2D segmentation to 3D, enabling instance/semantic segmentation for better scene understanding. A key…

We address the problem of localizing waste objects from a color image and an optional depth image, which is a key perception component for robotic interaction with such objects. Specifically, our method integrates the intensity and depth…

Deep metric learning has yielded impressive results in tasks such as clustering and image retrieval by leveraging neural networks to obtain highly discriminative feature embeddings, which can be used to group samples into different classes.…

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…

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…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…