相关论文: DisARM: Displacement Aware Relation Module for 3D …

Visual relationship detection, as a challenging task used to find and distinguish the interactions between object pairs in one image, has received much attention recently. In this work, we propose a novel visual relationship detection…

Recently, category-level 6D object pose estimation has achieved significant improvements with the development of reconstructing canonical 3D representations. However, the reconstruction quality of existing methods is still far from…

Localizing 3D objects using natural language is essential for robotic scene understanding. The descriptions often involve multiple spatial relationships to distinguish similar objects, making 3D-language alignment difficult. Current methods…

Although it is well believed for years that modeling relations between objects would help object recognition, there has not been evidence that the idea is working in the deep learning era. All state-of-the-art object detection systems still…

Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…

We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…

Referring image segmentation aims to segment the target object described by a given natural language expression. Typically, referring expressions contain complex relationships between the target and its surrounding objects. The main…

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

Small object detection under complex backgrounds remains a challenging task due to severe feature degradation, weak semantic representation, and inaccurate localization caused by downsampling operations and background interference. Existing…

Existing automatic approaches for 3D virtual character motion synthesis supporting scene interactions do not generalise well to new objects outside training distributions, even when trained on extensive motion capture datasets with diverse…

Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Change detection (CD) aims to find the difference between two images at different times and outputs a change map to represent whether the region has changed or not. To achieve a better result in generating the change map, many…

Scene recognition is a fundamental task in robotic perception. For human beings, scene recognition is reasonable because they have abundant object knowledge of the real world. The idea of transferring prior object knowledge from humans to…

This paper presents a novel hierarchical alignment model (HAM) that learns multi-granularity visual and linguistic representations in an end-to-end manner. We extract key points and proposal points to model 3D contexts and instances, and…

Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…

Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

We introduce InteractVLM, a novel method to estimate 3D contact points on human bodies and objects from single in-the-wild images, enabling accurate human-object joint reconstruction in 3D. This is challenging due to occlusions, depth…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…