相关论文: Unseen Object Instance Segmentation with Fully Tes…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Unsupervised video object segmentation aims to segment a target object in the video without a ground truth mask in the initial frame. This challenging task requires extracting features for the most salient common objects within a video…

Purpose: Segmentation of surgical instruments in endoscopic videos is essential for automated surgical scene understanding and process modeling. However, relying on fully supervised deep learning for this task is challenging because manual…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

In the generalized zero-shot learning, synthesizing unseen data with generative models has been the most popular method to address the imbalance of training data between seen and unseen classes. However, this method requires that the unseen…

Segmenting object parts such as cup handles and animal bodies is important in many real-world applications but requires more annotation effort. The largest dataset nowadays contains merely two hundred object categories, implying the…

Automatic instance segmentation is a problem that occurs in many biomedical applications. State-of-the-art approaches either perform semantic segmentation or refine object bounding boxes obtained from detection methods. Both suffer from…

We introduce uncertainty-aware object instance segmentation (UncOS) and demonstrate its usefulness for embodied interactive segmentation. To deal with uncertainty in robot perception, we propose a method for generating a hypothesis…

Robots working in unstructured environments must be capable of sensing and interpreting their surroundings. One of the main obstacles of deep-learning-based models in the field of robotics is the lack of domain-specific labeled data for…

It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…

Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with large-scale real-world data collection, robust perception…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

Instance segmentation of novel objects instances in RGB images, given some example images for each object, is a well known problem in computer vision. Designing a model general enough to be employed for all kinds of novel objects without…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Eye image segmentation is a critical step in eye tracking that has great influence over the final gaze estimate. Segmentation models trained using supervised machine learning can excel at this task, their effectiveness is determined by the…

Unsupervised transfer of object recognition models from synthetic to real data is an important problem with many potential applications. The challenge is how to "adapt" a model trained on simulated images so that it performs well on…

Video object segmentation is a fundamental step in many advanced vision applications. Most existing algorithms are based on handcrafted features such as HOG, super-pixel segmentation or texture-based techniques, while recently deep features…

3D object detection from point clouds is crucial in safety-critical autonomous driving. Although many works have made great efforts and achieved significant progress on this task, most of them suffer from expensive annotation cost and poor…

Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangement, including shifting,…