相关论文: Kit-Net: Self-Supervised Learning to Kit Novel 3D …

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…

Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with large-scale real-world data collection, robust perception…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Dense Object Nets (DONs) by Florence, Manuelli and Tedrake (2018) introduced dense object descriptors as a novel visual object representation for the robotics community. It is suitable for many applications including object grasping, policy…

Deep convolutional neural network with increased number of parameters has achieved improved precision in task of object detection on natural images, where objects of interests are annotated with horizontal boundary boxes. On aerial images…

This work considers a new task in geometric deep learning: generating a triangulation among a set of points in 3D space. We present PointTriNet, a differentiable and scalable approach enabling point set triangulation as a layer in 3D…

What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…

Deep neural networks have become ubiquitous for applications related to visual recognition and language understanding tasks. However, it is often prohibitive to use typical neural networks on devices like mobile phones or smart watches…

Estimating the uncertainty of a neural network plays a fundamental role in safety-critical settings. In perception for autonomous driving, measuring the uncertainty means providing additional calibrated information to downstream tasks, such…

Single-View depth estimation using the CNNs trained from unlabelled videos has shown significant promise. However, excellent results have mostly been obtained in street-scene driving scenarios, and such methods often fail in other settings,…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…

3D object reconstruction is a fundamental task of many robotics and AI problems. With the aid of deep convolutional neural networks (CNNs), 3D object reconstruction has witnessed a significant progress in recent years. However, possibly due…

Human pose estimation using deep neural networks aims to map input images with large variations into multiple body keypoints which must satisfy a set of geometric constraints and inter-dependency imposed by the human body model. This is a…

We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…

Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

We propose a new deep learning network that introduces a deeper CNN channel filter and constraints as losses to reduce joint position and motion errors for 3D video human body pose estimation. Our model outperforms the previous best result…

An important component of computer vision research is object detection. In recent years, there has been tremendous progress in the study of construction site images. However, there are obvious problems in construction object detection,…

We propose a 3D object detection method for autonomous driving by fully exploiting the sparse and dense, semantic and geometry information in stereo imagery. Our method, called Stereo R-CNN, extends Faster R-CNN for stereo inputs to…