相关论文: Orienting Novel 3D Objects Using Self-Supervised L…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Rectifying the orientation of images represents a daily task for every photographer. This task may be complicated even for the human eye, especially when the horizon or other horizontal and vertical lines in the image are missing. In this…

Object pose estimation is important for object manipulation and scene understanding. In order to improve the general applicability of pose estimators, recent research focuses on providing estimates for novel objects, that is objects unseen…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

Defining and reliably finding a canonical orientation for 3D surfaces is key to many Computer Vision and Robotics applications. This task is commonly addressed by handcrafted algorithms exploiting geometric cues deemed as distinctive and…

In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…

Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this…

As a core problem in computer vision, the performance of object detection has improved drastically in the past few years. Despite their impressive performance, object detectors suffer from a lack of interpretability. Visualization…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

Autonomous radar has been an integral part of advanced driver assistance systems due to its robustness to adverse weather and various lighting conditions. Conventional automotive radars use digital signal processing (DSP) algorithms to…

Recent work has proven that training large language models with self-supervised tasks and fine-tuning these models to complete new tasks in a transfer learning setting is a powerful idea, enabling the creation of models with many…

We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…

As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…