相关论文: Self-supervised Transparent Liquid Segmentation fo…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Semi-supervised segmentation tackles the scarcity of annotations by leveraging unlabeled data with a small amount of labeled data. A prominent way to utilize the unlabeled data is by consistency training which commonly uses a…

Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

Semantic segmentation requires large amounts of pixel-wise annotations to learn accurate models. In this paper, we present a video prediction-based methodology to scale up training sets by synthesizing new training samples in order to…

Learning color mixing is difficult for novice painters. In order to support novice painters in learning color mixing, we propose a prediction model for semitransparent pigment mixtures and use its prediction results to create a Smart…

Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…

We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…

Masked autoencoders have become popular training paradigms for self-supervised visual representation learning. These models randomly mask a portion of the input and reconstruct the masked portion according to the target representations. In…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and im-prove patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses signif-icant…

Semantic segmentation has attracted a large amount of attention in recent years. In robotics, segmentation can be used to identify a region of interest, or \emph{target area}. For example, in the RoboCup Standard Platform League (SPL),…

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…

This paper proposes an end-to-end trainable network, SegFlow, for simultaneously predicting pixel-wise object segmentation and optical flow in videos. The proposed SegFlow has two branches where useful information of object segmentation and…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

We introduce a novel framework to build a model that can learn how to segment objects from a collection of images without any human annotation. Our method builds on the observation that the location of object segments can be perturbed…

This paper proposes a new glass segmentation method utilizing paired RGB and thermal images. Due to the large difference between the transmission property of visible light and that of the thermal energy through the glass where most glass is…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

Transparent objects such as windows and bottles made by glass widely exist in the real world. Segmenting transparent objects is challenging because these objects have diverse appearance inherited from the image background, making them had…

State-of-the-art image segmentation algorithms generally consist of at least two successive and distinct computations: a boundary detection process that uses local image information to classify image locations as boundaries between objects,…