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

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…

Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify…

Dynamic objects have a significant impact on the robot's perception of the environment which degrades the performance of essential tasks such as localization and mapping. In this work, we address this problem by synthesizing plausible…

Service robots operating in unstructured environments must effectively recognize and segment unknown objects to enhance their functionality. Traditional supervised learningbased segmentation techniques require extensive annotated datasets,…

The existing zero-shot detection approaches project visual features to the semantic domain for seen objects, hoping to map unseen objects to their corresponding semantics during inference. However, since the unseen objects are never…

Semantic segmentation models have reached remarkable performance across various tasks. However, this performance is achieved with extremely large models, using powerful computational resources and without considering training and inference…

Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Most state-of-the-art instance segmentation methods have to be trained on densely annotated images. While difficult in general, this requirement is especially daunting for biomedical images, where domain expertise is often required for…

In interactive object segmentation a user collaborates with a computer vision model to segment an object. Recent works employ convolutional neural networks for this task: Given an image and a set of corrections made by the user as input,…

This paper addresses the semantic instance segmentation task in the open-set conditions, where input images can contain known and unknown object classes. The training process of existing semantic instance segmentation methods requires…

The visual system of a robot has different requirements depending on the application: it may require high accuracy or reliability, be constrained by limited resources or need fast adaptation to dynamically changing environments. In this…

Data-driven techniques for machine vision heavily depend on the training data to sufficiently resemble the data occurring during test and application. However, in practice unknown distortion can lead to a domain gap between training and…

The generalization capability of unsupervised domain adaptation can mitigate the need for extensive pixel-level annotations to train semantic segmentation networks by training models on synthetic data as a source with computer-generated…

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…

Deep learning models in medical imaging often encounter challenges when adapting to new clinical settings unseen during training. Test-time adaptation offers a promising approach to optimize models for these unseen domains, yet its…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Unsupervised domain adaptation for object detection addresses the adaption of detectors trained in a source domain to work accurately in an unseen target domain. Recently, methods approaching the alignment of the intermediate features…

Service robots should be able to interact naturally with non-expert human users, not only to help them in various tasks but also to receive guidance in order to resolve ambiguities that might be present in the instruction. We consider the…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…