相关论文: Unknown Object Segmentation through Domain Adaptat…

Supervised learning tends to produce more accurate classifiers than unsupervised learning in general. This implies that training data is preferred with annotations. When addressing visual perception challenges, such as localizing certain…

In this work, we present an application of domain randomization and generative adversarial networks (GAN) to train a near real-time object detector for industrial electric parts, entirely in a simulated environment. Large scale availability…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

Human-object interaction segmentation is a fundamental task of daily activity understanding, which plays a crucial role in applications such as assistive robotics, healthcare, and autonomous systems. Most existing learning-based methods…

The interactive segmentation task consists in the creation of object segmentation masks based on user interactions. The most common way to guide a model towards producing a correct segmentation consists in clicks on the object and…

To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

This paper proposes a novel self-supervised based Cut-and-Paste GAN to perform foreground object segmentation and generate realistic composite images without manual annotations. We accomplish this goal by a simple yet effective…

Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…

With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling…

This paper addresses the semantic instance segmentation task in the open-set conditions, where input images can contain known and unknown object classes. The training process of existing semantic instance segmentation methods requires…

Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

Object segmentation is a crucial problem that is usually solved by using supervised learning approaches over very large datasets composed of both images and corresponding object masks. Since the masks have to be provided at pixel level,…

Segmenting object parts such as cup handles and animal bodies is important in many real-world applications but requires more annotation effort. The largest dataset nowadays contains merely two hundred object categories, implying the…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

We propose a method for sim-to-real robot learning which exploits simulator state information in a way that scales to many objects. We first train a pair of encoder networks to capture multi-object state information in a latent space. One…

Model generalization capacity at domain shift (e.g., various imaging protocols and scanners) is crucial for deep learning methods in real-world clinical deployment. This paper tackles the challenging problem of domain generalization, i.e.,…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…