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

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

A key algorithm for understanding the world is material segmentation, which assigns a label (metal, glass, etc.) to each pixel. We find that a model trained on existing data underperforms in some settings and propose to address this with a…

Robots that assist humans in their daily lives should be able to locate specific instances of objects in an environment that match a user's desired objects. This task is known as instance-specific image goal navigation (InstanceImageNav),…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

With the increasing adoption of robots across industries, it is crucial to focus on developing advanced algorithms that enable robots to anticipate, comprehend, and plan their actions effectively in collaboration with humans. We introduce…

Existing scene understanding systems mainly focus on recognizing the visible parts of a scene, ignoring the intact appearance of physical objects in the real-world. Concurrently, image completion has aimed to create plausible appearance for…

Consider scene understanding problems such as predicting where a person is probably reaching, or inferring the pose of 3D objects from depth images, or inferring the probable street crossings of pedestrians at a busy intersection. This…

Camouflaged object detection (COD) aims to identify objects in images that are well hidden in the environment due to their high similarity to the background in terms of texture and color. However, existing most boundary-guided camouflage…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

In this paper, we present a robust method for scene recognition, which leverages Convolutional Neural Networks (CNNs) features and Sparse Coding setting by creating a new representation of indoor scenes. Although CNNs highly benefited the…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…

Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and…

Detecting Human-Object Interaction (HOI) in images is an important step towards high-level visual comprehension. Existing work often shed light on improving either human and object detection, or interaction recognition. However, due to the…

Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…

Most object recognition approaches predominantly focus on learning discriminative visual patterns while overlooking the holistic object structure. Though important, structure modeling usually requires significant manual annotations and…

Humans have a natural instinct to identify unknown object instances in their environments. The intrinsic curiosity about these unknown instances aids in learning about them, when the corresponding knowledge is eventually available. This…

The perception system in personalized mobile agents requires developing indoor scene understanding models, which can understand 3D geometries, capture objectiveness, analyze human behaviors, etc. Nonetheless, this direction has not been…

We address the task of indoor scene generation by generating a sequence of objects, along with their locations and orientations conditioned on a room layout. Large-scale indoor scene datasets allow us to extract patterns from user-designed…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…