相关论文: MaskBot: Real-time Robotic Projection Mapping with…

Estimating the 6-degrees-of-freedom (6DoF) pose of a spacecraft from a single image is critical for autonomous operations like in-orbit servicing and space debris removal. Existing state-of-the-art methods often rely on iterative…

Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is challenging due to the complex object shape, incomplete object…

3D human pose estimation is a key enabling technology for applications such as healthcare monitoring, human-robot collaboration, and immersive gaming, but real-world deployment remains challenged by viewpoint variations. Existing methods…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…

Multi-object tracking (MOT) in UAV-based video is challenging due to variations in viewpoint, low resolution, and the presence of small objects. While other research on MOT dedicated to aerial videos primarily focuses on the academic aspect…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Multiple Object Tracking (MOT) focuses on modeling the relationship of detected objects among consecutive frames and merge them into different trajectories. MOT remains a challenging task as noisy and confusing detection results often…

Active Multi-Object Tracking (AMOT) is a task where cameras are controlled by a centralized system to adjust their poses automatically and collaboratively so as to maximize the coverage of targets in their shared visual field. In AMOT, each…

Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition,…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set,…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…

Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…

Rapid advances in 2D perception have led to systems that accurately detect objects in real-world images. However, these systems make predictions in 2D, ignoring the 3D structure of the world. Concurrently, advances in 3D shape prediction…

We propose a method to build in real-time animated 3D head models using a consumer-grade RGB-D camera. Our proposed method is the first one to provide simultaneously comprehensive facial motion tracking and a detailed 3D model of the user's…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

The reliability of grasp detection for target objects in complex scenes is a challenging task and a critical problem that needs to be solved urgently in practical application. At present, the grasp detection location comes from searching…