相关论文: Unseen Object Amodal Instance Segmentation via Hie…

Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…

Standard semantic instance segmentation provides useful, but inherently 2D information from a single image. To enable 3D analysis, one usually integrates absolute monocular depth estimation with instance segmentation. However, monocular…

Instance segmentation is an active topic in computer vision that is usually solved by using supervised learning approaches over very large datasets composed of object level masks. Obtaining such a dataset for any new domain can be very…

Efficient and reliable methods for training of object detectors are in higher demand than ever, and more and more data relevant to the field is becoming available. However, large datasets like Open Images Dataset v4 (OID) are sparsely…

Predicting pedestrian crossing intentions is crucial for the navigation of mobile robots and intelligent vehicles. Although recent deep learning-based models have shown significant success in forecasting intentions, few consider incomplete…

We present a method to populate an unknown environment with models of previously seen objects, placed in a Euclidean reference frame that is inferred causally and on-line using monocular video along with inertial sensors. The system we…

Instance segmentation of biological images is essential for studying object behaviors and properties. The challenges, such as clustering, occlusion, and adhesion problems of the objects, make instance segmentation a non-trivial task.…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…

Flexible industrial production systems will play a central role in the future of manufacturing due to higher product individualization and customization. A key component in such systems is the robotic grasping of known or unknown objects in…

Panoptic segmentation methods assign a known class to each pixel given in input. Even for state-of-the-art approaches, this inevitably enforces decisions that systematically lead to wrong predictions for objects outside the training…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…

Multiple object tracking (MOT) is a crucial task in computer vision society. However, most tracking-by-detection MOT methods, with available detected bounding boxes, cannot effectively handle static, slow-moving and fast-moving camera…

The ability to localize and segment objects from unseen classes would open the door to new applications, such as autonomous object learning in active vision. Nonetheless, improving the performance on unseen classes requires additional…

Successful execution of dexterous robotic manipulation tasks in new environments, such as grasping, depends on the ability to proficiently segment unseen objects from the background and other objects. Previous works in unseen object…

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…

We present joint learning of instance and semantic segmentation for visible and occluded region masks. Sharing the feature extractor with instance occlusion segmentation, we introduce semantic occlusion segmentation into the instance…

In recent years, deep neural networks have been widely used for building high-performance Artificial Intelligence (AI) systems for computer vision applications. Object detection is a fundamental task in computer vision, which has been…

Recognition of occluded objects in unseen and unstructured indoor environments is a challenging problem for mobile robots. To address this challenge, we propose a new descriptor, TOPS, for point clouds generated from depth images and an…