相关论文: SeanNet: Semantic Understanding Network for Locali…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

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…

Scene graphs are a powerful structured representation of the underlying content of images, and embeddings derived from them have been shown to be useful in multiple downstream tasks. In this work, we employ a graph convolutional network to…

Mobile and embedded applications require neural networks-based pattern recognition systems to perform well under a tight computational budget. In contrast to commonly used synchronous, frame-based vision systems and CNNs, asynchronous,…

We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of…

The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

We present semi-supervised deep learning approaches for traversability estimation from fisheye images. Our method, GONet, and the proposed extensions leverage Generative Adversarial Networks (GANs) to effectively predict whether the area…

Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…

Lane detection algorithms have been the key enablers for a fully-assistive and autonomous navigation systems. In this paper, a novel and pragmatic approach for lane detection is proposed using a convolutional neural network (CNN) model…

Despite the extensive adoption of machine learning on the task of visual object tracking, recent learning-based approaches have largely overlooked the fact that visual tracking is a sequence-level task in its nature; they rely heavily on…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…

Semantic segmentation and instance level segmentation made substantial progress in recent years due to the emergence of deep neural networks (DNNs). A number of deep architectures with Convolution Neural Networks (CNNs) were proposed that…

High-level 3D scene understanding is essential in many applications. However, the challenges of generating accurate 3D annotations make development of deep learning models difficult. We turn to recent advancements in automatic retrieval of…

Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…

Graph-based convolutional model such as non-local block has shown to be effective for strengthening the context modeling ability in convolutional neural networks (CNNs). However, its pixel-wise computational overhead is prohibitive which…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…