相关论文: A large scale multi-view RGBD visual affordance le…

Computer vision was long a tool used for aiding visually impaired people to move around their environment and avoid obstacles and falls. Solutions are limited to either indoor or outdoor scenes, which limits the kind of places and scenes…

Detecting 3D objects keypoints is of great interest to the areas of both graphics and computer vision. There have been several 2D and 3D keypoint datasets aiming to address this problem in a data-driven way. These datasets, however, either…

Existing RGB-D saliency detection models do not explicitly encourage RGB and depth to achieve effective multi-modal learning. In this paper, we introduce a novel multi-stage cascaded learning framework via mutual information minimization to…

Object recognition has made great advances in the last decade, but predominately still relies on many high-quality training examples per object category. In contrast, learning new objects from only a few examples could enable many impactful…

Analyzing scenes thoroughly is crucial for mobile robots acting in different environments. Semantic segmentation can enhance various subsequent tasks, such as (semantically assisted) person perception, (semantic) free space detection,…

We present Open Images V4, a dataset of 9.2M images with unified annotations for image classification, object detection and visual relationship detection. The images have a Creative Commons Attribution license that allows to share and adapt…

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance. To address these challenges, we propose a Deep Learning network that…

Benefiting from the spatial cues embedded in depth images, recent progress on RGB-D saliency detection shows impressive ability on some challenge scenarios. However, there are still two limitations. One hand is that the pooling and…

Affordance grounding, a task to ground (i.e., localize) action possibility region in objects, which faces the challenge of establishing an explicit link with object parts due to the diversity of interactive affordance. Human has the ability…

A core problem of Embodied AI is to learn object manipulation from observation, as humans do. To achieve this, it is important to localize 3D object affordance areas through observation such as images (3D affordance grounding) and…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

In this work, we present 3DCoMPaT$^{++}$, a multimodal 2D/3D dataset with 160 million rendered views of more than 10 million stylized 3D shapes carefully annotated at the part-instance level, alongside matching RGB point clouds, 3D textured…

Though performed almost effortlessly by humans, segmenting 2D gray-scale or color images into respective regions of interest (e.g.~background, objects, or portions of objects) constitutes one of the greatest challenges in science and…

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…

Affordance grounding aims to locate objects' "action possibilities" regions, which is an essential step toward embodied intelligence. Due to the diversity of interactive affordance, the uniqueness of different individuals leads to diverse…

Detecting and classifying targets in video streams from surveillance cameras is a cumbersome, error-prone and expensive task. Often, the incurred costs are prohibitive for real-time monitoring. This leads to data being stored locally or…

We introduce One-shot Open Affordance Learning (OOAL), where a model is trained with just one example per base object category, but is expected to identify novel objects and affordances. While vision-language models excel at recognizing…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…