相关论文: TransCG: A Large-Scale Real-World Dataset for Tran…

Reconstructing texture-less surfaces poses unique challenges in computer vision, primarily due to the lack of specialized datasets that cater to the nuanced needs of depth and normals estimation in the absence of textural information. We…

Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…

Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D…

Grasp detection in a cluttered environment is still a great challenge for robots. Currently, the Transformer mechanism has been successfully applied to visual tasks, and its excellent ability of global context information extraction…

Raw depth images captured in indoor scenarios frequently exhibit extensive missing values due to the inherent limitations of the sensors and environments. For example, transparent materials frequently elude detection by depth sensors;…

Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…

In this paper we present a dense ground truth dataset of nonrigidly deforming real-world scenes. Our dataset contains both long and short video sequences, and enables the quantitatively evaluation for RGB based tracking and registration…

The emergence of neural and Gaussian-based radiance field methods has led to considerable advancements in novel view synthesis and 3D object reconstruction. Nonetheless, specular reflection and refraction continue to pose significant…

In a human-robot collaborative task where a robot helps its partner by finding described objects, the depth dimension plays a critical role in successful task completion. Existing studies have mostly focused on comprehending the object…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

Grasping for novel objects is important for robot manipulation in unstructured environments. Most of current works require a grasp sampling process to obtain grasp candidates, combined with local feature extractor using deep learning. This…

Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…

In robotic vision, a de-facto paradigm is to learn in simulated environments and then transfer to real-world applications, which poses an essential challenge in bridging the sim-to-real domain gap. While mainstream works tackle this problem…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning…

This paper addresses the problem of transparent object matting. Existing image matting approaches for transparent objects often require tedious capturing procedures and long processing time, which limit their practical use. In this paper,…

The contour estimation of transparent fragments is very important for autonomous reassembly, especially in the fields of precision optical instrument repair, cultural relic restoration, and identification of other precious device broken…

Understanding the 3D geometry of transparent objects from RGB images is challenging due to their inherent physical properties, such as reflection and refraction. To address these difficulties, especially in scenarios with sparse views and…

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…

Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing…