相关论文: SynPick: A Dataset for Dynamic Bin Picking Scene U…

We present a visual localization system that learns to estimate camera poses in the real world with the help of synthetic data. Despite significant progress in recent years, most learning-based approaches to visual localization target at a…

This paper proposes the SPARK dataset as a new unique space object multi-modal image dataset. Image-based object recognition is an important component of Space Situational Awareness, especially for applications such as on-orbit servicing,…

Constructing and maintaining a consistent scene model on-the-fly is the core task for online spatial perception, interpretation, and action. In this paper, we represent the scene with a Bayesian nonparametric mixture model, seamlessly…

Deriving compact and temporally aware visual representations from dynamic scenes is essential for successful execution of sequential scene understanding tasks such as visual tracking and robotic manipulation. In this paper, we introduce…

Simulating object dynamics from real-world perception shows great promise for digital twins and robotic manipulation but often demands labor-intensive measurements and expertise. We present a fully automated Real2Sim pipeline that generates…

When humans and robotic agents coexist in an environment, scene understanding becomes crucial for the agents to carry out various downstream tasks like navigation and planning. Hence, an agent must be capable of localizing and identifying…

State-of-the-art empirical work has shown that visual representations learned by deep neural networks are robust in nature and capable of performing classification tasks on diverse datasets. For example, CLIP demonstrated zero-shot transfer…

Synthetic data is emerging as a promising solution to the scalability issue of supervised deep learning, especially when real data are difficult to acquire or hard to annotate. Synthetic data generation, however, can itself be prohibitively…

In this work, we present several heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera for the purpose of aiding robotic grasping. These strategies aim to efficiently collect data…

Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perform poorly in cluttered dynamic environments. Imbuing the…

The joint use of event-based vision and Spiking Neural Networks (SNNs) is expected to have a large impact in robotics in the near future, in tasks such as, visual odometry and obstacle avoidance. While researchers have used real-world event…

For robotic agents operating in dynamic environments, learning visual state representations from streaming video observations is essential for sequential decision making. Recent self-supervised learning methods have shown strong…

Recent advances in diffusion models have significantly improved conditional video generation, particularly in the pose-guided human image animation task. Although existing methods are capable of generating high-fidelity and time-consistent…

We are interested in automatic scene understanding from geometric cues. To this end, we aim to bring semantic segmentation in the loop of real-time reconstruction. Our semantic segmentation is built on a deep autoencoder stack trained…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

We present a practical and robust deep learning solution for capturing and rendering novel views of complex real world scenes for virtual exploration. Previous approaches either require intractably dense view sampling or provide little to…

Spike cameras, as innovative neuromorphic devices, generate continuous spike streams to capture high-speed scenes with lower bandwidth and higher dynamic range than traditional RGB cameras. However, reconstructing high-quality images from…

In this paper we address the problem of visual reaction: the task of interacting with dynamic environments where the changes in the environment are not necessarily caused by the agent itself. Visual reaction entails predicting the future…

Mining data streams is a challenge per se. It must be ready to deal with an enormous amount of data and with problems not present in batch machine learning, such as concept drift. Therefore, applying a batch-designed technique, such as…

We present an overview and evaluation of a new, systematic approach for generation of highly realistic, annotated synthetic data for training of deep neural networks in computer vision tasks. The main contribution is a procedural world…