相关论文: OPD: Single-view 3D Openable Part Detection

Object detection has been expanded from a limited number of categories to open vocabulary. Moving forward, a complete intelligent vision system requires understanding more fine-grained object descriptions, object parts. In this paper, we…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes.…

3D scene understanding for robotic applications exhibits a unique set of requirements including real-time inference, object-centric latent representation learning, accurate 6D pose estimation and 3D reconstruction of objects. Current…

Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…

Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…

We propose and study open-vocabulary monocular 3D detection, a novel task that aims to detect objects of any categores in metric 3D space from a single RGB image. Existing 3D object detectors either rely on costly sensors such as LiDAR or…

Based on the Distributed Convolutional Neural Network(DisCNN), a straightforward object detection method is proposed. The modules of the output vector of a DisCNN with respect to a specific positive class are positively monotonic with the…

Deep Convolutional Neural Networks (DCNN) have been proven to be effective for various computer vision problems. In this work, we demonstrate its effectiveness on a continuous object orientation estimation task, which requires prediction of…

Deep neural networks (DNNs) have shown remarkable performance improvements on vision-related tasks such as object detection or image segmentation. Despite their success, they generally lack the understanding of 3D objects which form the…

Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable…

Mobile robots are increasingly required to navigate and interact within unknown and unstructured environments to meet human demands. Demand-driven navigation (DDN) enables robots to identify and locate objects based on implicit human…

To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…

Human visual perception carves a scene at its physical joints, decomposing the world into objects, which are selectively attended, tracked, and predicted as we engage our surroundings. Object representations emancipate perception from the…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

Adversarial attacks can easily fool object recognition systems based on deep neural networks (DNNs). Although many defense methods have been proposed in recent years, most of them can still be adaptively evaded. One reason for the weak…

Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in its current and desired orientation. We formulate a…

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…

Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…

In this paper, we consider the problem of simultaneously detecting objects and inferring their visual attributes in an image, even for those with no manual annotations provided at the training stage, resembling an open-vocabulary scenario.…