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

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

We propose a method for unsupervised video object segmentation by transferring the knowledge encapsulated in image-based instance embedding networks. The instance embedding network produces an embedding vector for each pixel that enables…

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…

Supervised learning is well-known to fail at generalization under distribution shifts. In typical clinical settings, the source data is inaccessible and the target distribution is represented with a handful of samples: adaptation can only…

We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by…

Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label…

Online, real-time, and fine-grained 3D segmentation constitutes a fundamental capability for embodied intelligent agents to perceive and comprehend their operational environments. Recent advancements employ predefined object queries to…

Segmentation of unseen industrial parts is essential for autonomous industrial systems. However, industrial components are texture-less, reflective, and often found in cluttered and unstructured environments with heavy occlusion, which…

We present our approach for robotic perception in cluttered scenes that led to winning the recent Amazon Robotics Challenge (ARC) 2017. Next to small objects with shiny and transparent surfaces, the biggest challenge of the 2017 competition…

In recent years, the need for semantic segmentation has arisen across several different applications and environments. However, the expense and redundancy of annotation often limits the quantity of labels available for training in any…

Object segmentation is a crucial problem that is usually solved by using supervised learning approaches over very large datasets composed of both images and corresponding object masks. Since the masks have to be provided at pixel level,…

To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

We propose a new problem formulation and a corresponding evaluation framework to advance research on unsupervised domain adaptation for semantic image segmentation. The overall goal is fostering the development of adaptive learning systems…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Recent efforts in deploying Deep Neural Networks for object detection in real world applications, such as autonomous driving, assume that all relevant object classes have been observed during training. Quantifying the performance of these…

Segmentation of organs or lesions from medical images plays an essential role in many clinical applications such as diagnosis and treatment planning. Though Convolutional Neural Networks (CNN) have achieved the state-of-the-art performance…

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…

LiDAR-based semantic segmentation is a key component for autonomous mobile robots, yet large-scale annotation of LiDAR point clouds is prohibitively expensive and time-consuming. Although simulators can provide labeled synthetic data,…