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

In this paper, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well suitable for visual grasping tasks. The first key design is…

Human-object interaction segmentation is a fundamental task of daily activity understanding, which plays a crucial role in applications such as assistive robotics, healthcare, and autonomous systems. Most existing learning-based methods…

This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods…

This work presents a deep object co-segmentation (DOCS) approach for segmenting common objects of the same class within a pair of images. This means that the method learns to ignore common, or uncommon, background stuff and focuses on…

Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…

Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…

We present a novel object detection pipeline for localization and recognition in three dimensional environments. Our approach makes use of an RGB-D sensor and combines state-of-the-art techniques from the robotics and computer vision…

6-DoF grasp detection is critically important for the advancement of intelligent embodied systems, as it provides feasible robot poses for object grasping. Various methods have been proposed to detect 6-DoF grasps through the extraction of…

Glass-like objects such as windows, bottles, and mirrors exist widely in the real world. Sensing these objects has many applications, including robot navigation and grasping. However, this task is very challenging due to the arbitrary…

In recent years, the task of segmenting foreground objects from background in a video, i.e. video object segmentation (VOS), has received considerable attention. In this paper, we propose a single end-to-end trainable deep neural network,…

Current fine-grained classification approaches often rely on a robust localization of object parts to extract localized feature representations suitable for discrimination. However, part localization is a challenging task due to the large…

Grasping inhomogeneous objects in real-world applications remains a challenging task due to the unknown physical properties such as mass distribution and coefficient of friction. In this study, we propose a meta-learning algorithm called…

This paper investigates how to extract objects-of-interest without relying on hand-craft features and sliding windows approaches, that aims to jointly solve two sub-tasks: (i) rapidly localizing salient objects from images, and (ii)…

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…

Real-world robotic systems frequently require diverse end-effectors for different tasks, however most existing grasp detection methods are optimized for a single gripper type, demanding retraining or optimization for each novel gripper…

In the modern era of Deep Learning, network parameters play a vital role in models efficiency but it has its own limitations like extensive computations and memory requirements, which may not be suitable for real time intelligent robot…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

Computer vision algorithms with pixel-wise labeling tasks, such as semantic segmentation and salient object detection, have gone through a significant accuracy increase with the incorporation of deep learning. Deep segmentation methods…

Remote sensing segmentation has a wide range of applications in environmental protection, and urban change detection, etc. Despite the success of deep learning-based remote sensing segmentation methods (e.g., CNN and Transformer), they are…

We develop a deep learning algorithm for contour detection with a fully convolutional encoder-decoder network. Different from previous low-level edge detection, our algorithm focuses on detecting higher-level object contours. Our network is…