相关论文: RICE: Refining Instance Masks in Cluttered Environ…

Efficient localization and high-quality rendering in large-scale scenes remain a significant challenge due to the computational cost involved. While Scene Coordinate Regression (SCR) methods perform well in small-scale localization, they…

Due to the optical properties, transparent objects often lead depth cameras to generate incomplete or invalid depth data, which in turn reduces the accuracy and reliability of robotic grasping. Existing approaches typically input the RGB-D…

Masked graph autoencoder (MGAE) has emerged as a promising self-supervised graph pre-training (SGP) paradigm due to its simplicity and effectiveness. However, existing efforts perform the mask-then-reconstruct operation in the raw data…

Grasp detection in clutter requires the robot to reason about the 3D scene from incomplete and noisy perception. In this work, we draw insight that 3D reconstruction and grasp learning are two intimately connected tasks, both of which…

Generating realistic images from scene graphs asks neural networks to be able to reason about object relationships and compositionality. As a relatively new task, how to properly ensure the generated images comply with scene graphs or how…

Anticipating future events is an important prerequisite towards intelligent behavior. Video forecasting has been studied as a proxy task towards this goal. Recent work has shown that to predict semantic segmentation of future frames,…

Modern recommender systems (RS) work by processing a number of signals that can be inferred from large sets of user-item interaction data. The main signal to analyze stems from the raw matrix that represents interactions. However, we can…

Rationale is defined as a subset of input features that best explains or supports the prediction by machine learning models. Rationale identification has improved the generalizability and interpretability of neural networks on vision and…

Human actions often involve complex interactions across several inter-related objects in the scene. However, existing approaches to fine-grained video understanding or visual relationship detection often rely on single object representation…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

Deep neural networks are being used increasingly to automate data analysis and decision making, yet their decision-making process is largely unclear and is difficult to explain to the end users. In this paper, we address the problem of…

While there has been significant progress in solving the problems of image pixel labeling, object detection and scene classification, existing approaches normally address them separately. In this paper, we propose to tackle these problems…

In this paper, we propose Contextual Guided Segmentation (CGS) framework for video instance segmentation in three passes. In the first pass, i.e., preview segmentation, we propose Instance Re-Identification Flow to estimate main properties…

Graphical models are widely used in science to represent joint probability distributions with an underlying conditional dependence structure. The inverse problem of learning a discrete graphical model given i.i.d samples from its joint…

The ability to segment unknown objects in depth images has potential to enhance robot skills in grasping and object tracking. Recent computer vision research has demonstrated that Mask R-CNN can be trained to segment specific categories of…

State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for…

Fine-grained image recognition is a challenging computer vision problem, due to the small inter-class variations caused by highly similar subordinate categories, and the large intra-class variations in poses, scales and rotations. In this…

Fine-grained visual parsing, including fine-grained part segmentation and fine-grained object recognition, has attracted considerable critical attention due to its importance in many real-world applications, e.g., agriculture, remote…