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

Object-centric representation (OCR) has recently become a subject of interest in the computer vision community for learning a structured representation of images and videos. It has been several times presented as a potential way to improve…

A compositional understanding of the world in terms of objects and their geometry in 3D space is considered a cornerstone of human cognition. Facilitating the learning of such a representation in neural networks holds promise for…

Deep learning models have a risk of utilizing spurious clues to make predictions, such as recognizing actions based on the background scene. This issue can severely degrade the open-set action recognition performance when the testing…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…

Event recognition in still images is an intriguing problem and has potential for real applications. This paper addresses the problem of event recognition by proposing a convolutional neural network that exploits knowledge of objects and…

This paper introduces an innovative approach to open world recognition (OWR), where we leverage knowledge acquired from known objects to address the recognition of previously unseen objects. The traditional method of object modeling relies…

Context, as referred to situational factors related to the object of interest, can help infer the object's states or properties in visual recognition. As such contextual features are too diverse (across instances) to be annotated, existing…

Generating high-fidelity 3D indoor scenes remains a significant challenge due to data scarcity and the complexity of modeling intricate spatial relations. Current methods often struggle to scale beyond training distribution to dense scenes…

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

This paper introduces a novel method for determining the best room to place an object in, for embodied scene rearrangement. While state-of-the-art approaches rely on large language models (LLMs) or reinforcement learned (RL) policies for…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

Object recognition has become a crucial part of machine learning and computer vision recently. The current approach to object recognition involves Deep Learning and uses Convolutional Neural Networks to learn the pixel patterns of the…

Spatial relationships between objects represent key scene information for humans to understand and interact with the world. To study the capability of current computer vision systems to recognize physically grounded spatial relations, we…

While there are several widely used object detection datasets, current computer vision algorithms are still limited in conventional images. Such images narrow our vision in a restricted region. On the other hand, 360{\deg} images provide a…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

With the expansive aging of global population, service robot with living assistance applied in indoor scenes will serve as a crucial role in the field of elderly care and health in the future. Service robots need to detect multiple targets…