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

We introduce Boundless, a photo-realistic synthetic data generation system for enabling highly accurate object detection in dense urban streetscapes. Boundless can replace massive real-world data collection and manual ground-truth object…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modules: an error-based selection module utilizing photometric…

Traffic scene perception in computer vision is a critically important task to achieve intelligent cities. To date, most existing datasets focus on autonomous driving scenes. We observe that the models trained on those driving datasets often…

Collecting real-world data is often considered the bottleneck of Artificial Intelligence, stalling the research progress in several fields, one of which is camera localization. End-to-end camera localization methods are still outperformed…

Many possible fields of application of robots in real world settings hinge on the ability of robots to grasp objects. As a result, robot grasping has been an active field of research for many years. With our publication we contribute to the…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

Reliable 3D dynamic perception requires models that can anticipate motion beyond predefined categories, yet progress is hindered by the scarcity of dense, high-quality motion annotations. While self-supervision on unlabeled real data offers…

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…

We present a challenging dataset, ChangeSim, aimed at online scene change detection (SCD) and more. The data is collected in photo-realistic simulation environments with the presence of environmental non-targeted variations, such as air…

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…

Recent approaches in skill matching, employing synthetic training data for classification or similarity model training, have shown promising results, reducing the need for time-consuming and expensive annotations. However, previous…

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible…

Current datasets for action recognition tasks face limitations stemming from traditional collection and generation methods, including the constrained range of action classes, absence of multi-viewpoint recordings, limited diversity, poor…

The application of activity recognition in the ``AI + Education" field is gaining increasing attention. However, current work mainly focuses on the recognition of activities in manually captured videos and a limited number of activity…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

Scene-aware motion synthesis has been widely researched recently due to its numerous applications. Prevailing methods rely heavily on paired motion-scene data, while it is difficult to generalize to diverse scenes when trained only on a few…