相关论文: GKNet: grasp keypoint network for grasp candidates…

Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

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…

Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient…

Semantic segmentation is a challenging task that needs to handle large scale variations, deformations and different viewpoints. In this paper, we develop a novel network named Gated Path Selection Network (GPSNet), which aims to learn…

Most classification models treat different object classes in parallel and the misclassifications between any two classes are treated equally. In contrast, human beings can exploit high-level information in making a prediction of an unknown…

Driven by the outstanding performance of neural networks in the structured Euclidean domain, recent years have seen a surge of interest in developing neural networks for graphs and data supported on graphs. The graph is leveraged at each…

Graph Neural Networks (GNNs) have shown advantages in various graph-based applications. Most existing GNNs assume strong homophily of graph structure and apply permutation-invariant local aggregation of neighbors to learn a representation…

In this paper, we present a real-time approach to predict multiple grasping poses for a parallel-plate robotic gripper using RGB images. A model with oriented anchor box mechanism is proposed and a new matching strategy is used during the…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

Gait recognition has emerged as a compelling biometric modality for surveillance and security applications, offering inherent advantages such as non-intrusiveness, resistance to disguise, and long-range identification capability. However,…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

A segmentation-based architecture is proposed to decompose objects into multiple primitive shapes from monocular depth input for robotic manipulation. The backbone deep network is trained on synthetic data with 6 classes of primitive shapes…

In this work, we introduce a Denser Feature Network (DenserNet) for visual localization. Our work provides three principal contributions. First, we develop a convolutional neural network (CNN) architecture which aggregates feature maps at…

This paper presents an AI system applied to location and robotic grasping. Experimental setup is based on a parameter study to train a deep-learning network based on Mask-RCNN to perform waste location in indoor and outdoor environment,…

Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…

Traditional change detection methods usually follow the image differencing, change feature extraction and classification framework, and their performance is limited by such simple image domain differencing and also the hand-crafted…

Tensor network (TN) has recently triggered extensive interests in developing machine-learning models in quantum many-body Hilbert space. Here we purpose a generative TN classification (GTNC) approach for supervised learning. The strategy is…

The visual feature pyramid has proven its effectiveness and efficiency in target detection tasks. Yet, current methodologies tend to overly emphasize inter-layer feature interaction, neglecting the crucial aspect of intra-layer feature…