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

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However,…

We propose an end-to-end learning framework for segmenting generic objects in both images and videos. Given a novel image or video, our approach produces a pixel-level mask for all "object-like" regions---even for object categories never…

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…

Recently, robotic grasp detection (GD) and object detection (OD) with reasoning have been investigated using deep neural networks (DNNs). There have been works to combine these multi-tasks using separate networks so that robots can deal…

Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…

Joint object detection and semantic segmentation can be applied to many fields, such as self-driving cars and unmanned surface vessels. An initial and important progress towards this goal has been achieved by simply sharing the deep…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

Grasp detection requires flexibility to handle objects of various shapes without relying on prior knowledge of the object, while also offering intuitive, user-guided control. This paper introduces GraspSAM, an innovative extension of the…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

Robotic arms are widely used in automatic industries. However, with wide applications of deep learning in robotic arms, there are new challenges such as the allocation of grasping computing power and the growing demand for security. In this…

This paper proposes a new deep learning approach to antipodal grasp detection, named Double-Dot Network (DD-Net). It follows the recent anchor-free object detection framework, which does not depend on empirically pre-set anchors and thus…

In this paper we study grasp problem in dense cluster, a challenging task in warehouse logistics scenario. By introducing a two-step robust suction affordance detection method, we focus on using vacuum suction pad to clear up a box filled…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

Fine-grained classification often requires recognizing specific object parts, such as beak shape and wing patterns for birds. Encouraging a fine-grained classification model to first detect such parts and then using them to infer the class…

A segmentation-based architecture is proposed to decompose objects into multiple primitive shapes from monocular depth input for robotic manipulation. The backbone deep network is trained on synthetic data with 6 classes of primitive shapes…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

Object identification is one of the most fundamental and difficult issues in computer vision. It aims to discover object instances in real pictures from a huge number of established categories. In recent years, deep learning-based object…

In this paper, we propose deformable deep convolutional neural networks for generic object detection. This new deep learning object detection framework has innovations in multiple aspects. In the proposed new deep architecture, a new…

A key challenge in robot teaching is grasp-type recognition with a single RGB image and a target object name. Here, we propose a simple yet effective pipeline to enhance learning-based recognition by leveraging a prior distribution of grasp…