相关论文: Depth-only Object Tracking

We present a temporal 6-DOF tracking method which leverages deep learning to achieve state-of-the-art performance on challenging datasets of real world capture. Our method is both more accurate and more robust to occlusions than the…

Conventional RGB-D salient object detection methods aim to leverage depth as complementary information to find the salient regions in both modalities. However, the salient object detection results heavily rely on the quality of captured…

In this paper, we propose a multi-object detection and tracking method using depth cameras. Depth maps are very noisy and obscure in object detection. We first propose a region-based method to suppress high magnitude noise which cannot be…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

Salient object detection (SOD), which simulates the human visual perception system to locate the most attractive object(s) in a scene, has been widely applied to various computer vision tasks. Now, with the advent of depth sensors, depth…

In this paper, we propose a new correlated and individual multi-modal deep learning (CIMDL) method for RGB-D object recognition. Unlike most conventional RGB-D object recognition methods which extract features from the RGB and depth…

Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level accuracy, making them less suitable for…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

Most of the existing Siamese-based trackers treat tracking problem as a parallel task of classification and regression. However, some studies show that the sibling head structure could lead to suboptimal solutions during the network…

Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…

Recently, deep Convolutional Neural Networks (CNN) have demonstrated strong performance on RGB salient object detection. Although, depth information can help improve detection results, the exploration of CNNs for RGB-D salient object…

We introduce a new RGB-D object dataset captured in the wild called WildRGB-D. Unlike most existing real-world object-centric datasets which only come with RGB capturing, the direct capture of the depth channel allows better 3D annotations…

Advances in perception modeling have significantly improved the performance of object tracking. However, the current methods for specifying the target object in the initial frame are either by 1) using a box or mask template, or by 2)…

In this work, we consider data association problems involving multi-object tracking (MOT). In particular, we address the challenges arising from object occlusions. We propose a framework called approximate dynamic programming track…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

Visual object tracking, as a fundamental task in computer vision, has drawn much attention in recent years. To extend trackers to a wider range of applications, researchers have introduced information from multiple modalities to handle…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

RGB-Thermal (RGB-T) object tracking receives more and more attention due to the strongly complementary benefits of thermal information to visible data. However, RGB-T research is limited by lacking a comprehensive evaluation platform. In…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Accurately distinguishing each object is a fundamental goal of Multi-object tracking (MOT) algorithms. However, achieving this goal still remains challenging, primarily due to: (i) For crowded scenes with occluded objects, the high overlap…