相关论文: Semi-automatic 3D Object Keypoint Annotation and D…

Event-based object detection has recently garnered attention in the computer vision community due to the exceptional properties of event cameras, such as high dynamic range and no motion blur. However, feature asynchronism and sparsity…

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…

Despite the recent efforts in accurate 3D annotations in hand and object datasets, there still exist gaps in 3D hand and object reconstructions. Existing works leverage contact maps to refine inaccurate hand-object pose estimations and…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation…

This paper presents a semi-supervised learning framework to train a keypoint detector using multiview image streams given the limited labeled data (typically $<$4\%). We leverage the complementary relationship between multiview geometry and…

3D object detection has recently become popular due to many applications in robotics, augmented reality, autonomy, and image retrieval. We introduce the Objectron dataset to advance the state of the art in 3D object detection and foster new…

This paper introduces a novel weighted unsupervised learning for object detection using an RGB-D camera. This technique is feasible for detecting the moving objects in the noisy environments that are captured by an RGB-D camera. The main…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

6D object pose estimation is one of the fundamental problems in computer vision and robotics research. While a lot of recent efforts have been made on generalizing pose estimation to novel object instances within the same category, namely…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…

Inferring object 3D position and orientation from a single RGB camera is a foundational task in computer vision with many important applications. Traditionally, 3D object detection methods are trained in a fully-supervised setup, requiring…

Despite the recent progress on 6D object pose estimation methods for robotic grasping, a substantial performance gap persists between the capabilities of these methods on existing datasets and their efficacy in real-world grasping and…

Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments.…

Quantifying motion in 3D is important for studying the behavior of humans and other animals, but manual pose annotations are expensive and time-consuming to obtain. Self-supervised keypoint discovery is a promising strategy for estimating…

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…