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

Humans have a remarkable ability to predict the effect of physical interactions on the dynamics of objects. Endowing machines with this ability would allow important applications in areas like robotics and autonomous vehicles. In this work,…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

For robots to operate robustly in the real world, they should be aware of their uncertainty. However, most methods for object pose estimation return a single point estimate of the object's pose. In this work, we propose two learned methods…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

We present a new approach to 3D object representation where a neural network encodes the geometry of an object directly into the weights and biases of a second 'mapping' network. This mapping network can be used to reconstruct an object by…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments.…

Existing deep-learning based monocular orientation estimation algorithms faces the problem of confusion between the anterior and posterior parts of the objects, caused by the feature similarity of such parts in typical objects in traffic…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Understanding the 3D world is a fundamental problem in computer vision. However, learning a good representation of 3D objects is still an open problem due to the high dimensionality of the data and many factors of variation involved. In…

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…

Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the…

Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

Humans can identify objects following various spatial transformations such as scale and viewpoint. This extends to novel objects, after a single presentation at a single pose, sometimes referred to as online invariance. CNNs have been…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

Both a good understanding of geometrical concepts and a broad familiarity with objects lead to our excellent perception of moving objects. The human ability to detect and segment moving objects works in the presence of multiple objects,…