相关论文: Depth-aware Object Segmentation and Grasp Detectio…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

Most previous bounding-box-based segmentation methods assume the bounding box tightly covers the object of interest. However it is common that a rectangle input could be too large or too small. In this paper, we propose a novel segmentation…

In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze the entire scene to predict grasps, leading to redundancy…

Cross-view object geo-localization enables high-precision object localization through cross-view matching, with critical applications in autonomous driving, urban management, and disaster response. However, existing methods rely on…

This paper presents an AI system applied to location and robotic grasping. Experimental setup is based on a parameter study to train a deep-learning network based on Mask-RCNN to perform waste location in indoor and outdoor environment,…

This study aims to analyze the benefits of improved multi-scale reasoning for object detection and localization with deep convolutional neural networks. To that end, an efficient and general object detection framework which operates on…

Observing retinal fundus images by an ophthalmologist is a major diagnosis approach for glaucoma. However, it is still difficult to distinguish the features of the lesion solely through manual observations, especially, in glaucoma early…

We present a novel methodology that combines graph and dense segmentation techniques by jointly learning both point and pixel contour representations, thereby leveraging the benefits of each approach. This addresses deficiencies in typical…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

This paper develops a novel encoder-decoder deep network architecture which exploits the several contextual frames of 2D+t sequential images in a sliding window centered at current frame to segment 2D vessel masks from the current frame.…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…

We develop techniques for refining representations for fine-grained classification and segmentation tasks in a self-supervised manner. We find that fine-tuning methods based on instance-discriminative contrastive learning are not as…

A well-designed fine-grained categorization system usually has three contradictory requirements: accuracy (the ability to identify objects among subordinate categories); interpretability (the ability to provide human-understandable…

This paper addresses the task of unsupervised video multi-object segmentation. Current approaches follow a two-stage paradigm: 1) detect object proposals using pre-trained Mask R-CNN, and 2) conduct generic feature matching for temporal…

The aim of fine-grained recognition is to identify sub-ordinate categories in images like different species of birds. Existing works have confirmed that, in order to capture the subtle differences across the categories, automatic…

In grasp detection, the robot estimates the position and orientation of potential grasp configurations directly from sensor data. This paper explores the relationship between viewpoint and grasp detection performance. Specifically, we…

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…

Convolutional Neural Networks (CNN) are successfully used for various visual perception tasks including bounding box object detection, semantic segmentation, optical flow, depth estimation and visual SLAM. Generally these tasks are…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…