相关论文: BORM: Bayesian Object Relation Model for Indoor Sc…

Object detection is one of the most active areas in computer vision, which has made significant improvement in recent years. Current state-of-the-art object detection methods mostly adhere to the framework of regions with convolutional…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

We introduce Displacement Aware Relation Module (DisARM), a novel neural network module for enhancing the performance of 3D object detection in point cloud scenes. The core idea of our method is that contextual information is critical to…

Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are…

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…

We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…

We address the problem of instance-level semantic segmentation, which aims at jointly detecting, segmenting and classifying every individual object in an image. In this context, existing methods typically propose candidate objects, usually…

Indoor relocalization is vital for both robotic tasks like autonomous exploration and civil applications such as navigation with a cell phone in a shopping mall. Some previous approaches adopt geometrical information such as key-point…

In recent years, there has been a rapid increase in the number of service robots deployed for aiding people in their daily activities. Unfortunately, most of these robots require human input for training in order to do tasks in indoor…

The task of object viewpoint estimation has been a challenge since the early days of computer vision. To estimate the viewpoint (or pose) of an object, people have mostly looked at object intrinsic features, such as shape or appearance.…

Robots need to estimate the material and dynamic properties of objects from observations in order to simulate them accurately. We present a Bayesian optimization approach to identifying the material property parameters of objects based on a…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

We present a novel problem setting in zero-shot learning, zero-shot object recognition and detection in the context. Contrary to the traditional zero-shot learning methods, which simply infers unseen categories by transferring knowledge…

We consider the problem of learning object arrangements in a 3D scene. The key idea here is to learn how objects relate to human poses based on their affordances, ease of use and reachability. In contrast to modeling object-object…

Since scenes are composed in part of objects, accurate recognition of scenes requires knowledge about both scenes and objects. In this paper we address two related problems: 1) scale induced dataset bias in multi-scale convolutional neural…

Building models, or maps, of robot environments is a highly active research area; however, most existing techniques construct unstructured maps and assume static environments. In this paper, we present an algorithm for learning object…

A natural way to improve the detection of objects is to consider the contextual constraints imposed by the detection of additional objects in a given scene. In this work, we exploit the spatial relations between objects in order to improve…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

Understanding a visual scene goes beyond recognizing individual objects in isolation. Relationships between objects also constitute rich semantic information about the scene. In this work, we explicitly model the objects and their…