相关论文: TODE-Trans: Transparent Object Depth Estimation wi…

In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the…

Depth completion aims to predict dense depth maps with sparse depth measurements from a depth sensor. Currently, Convolutional Neural Network (CNN) based models are the most popular methods applied to depth completion tasks. However,…

Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…

Previous studies on event camera sensing have demonstrated certain detection performance using dense event representations. However, the accumulated noise in such dense representations has received insufficient attention, which degrades the…

The use of intelligent automation is growing significantly in the automotive industry, as it assists drivers and fleet management companies, thus increasing their productivity. Dash cams are now been used for this purpose which enables the…

Salient object detection is the pixel-level dense prediction task which can highlight the prominent object in the scene. Recently U-Net framework is widely used, and continuous convolution and pooling operations generate multi-level…

As demand for robotics manipulation application increases, accurate vision-based 6D pose estimation becomes essential for autonomous operations. Convolutional Neural Networks (CNNs) based approaches for pose estimation have been previously…

Transparent objects are ubiquitous in industry, pharmaceuticals, and households. Grasping and manipulating these objects is a significant challenge for robots. Existing methods have difficulty reconstructing complete depth maps for…

The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of such objects. We propose using neural radiance fields…

Depth information which specifies the distance between objects and current position of the robot is essential for many robot tasks such as navigation. Recently, researchers have proposed depth completion frameworks to provide dense depth…

Transformers are a popular choice for classification tasks and as backbones for object detection tasks. However, their high latency brings challenges in their adaptation to lightweight object detection systems. We present an approximation…

Glass is a prevalent material among solid objects in everyday life, yet segmentation methods struggle to distinguish it from opaque materials due to its transparency and reflection. While it is known that human perception relies on boundary…

Monocular depth estimation remains challenging for transparent objects, where refraction and transmission are difficult to model and break the appearance assumptions used by depth networks. As a result, state-of-the-art estimators often…

Monocular normal estimation for transparent objects is critical for laboratory automation, yet it remains challenging due to complex light refraction and reflection. These optical properties often lead to catastrophic failures in…

Accurate depth estimation from images is a fundamental task in many applications including scene understanding and reconstruction. Existing solutions for depth estimation often produce blurry approximations of low resolution. This paper…

State-of-the-art object grasping methods rely on depth sensing to plan robust grasps, but commercially available depth sensors fail to detect transparent and specular objects. To improve grasping performance on such objects, we introduce a…

Transformer and its variants have shown state-of-the-art results in many vision tasks recently, ranging from image classification to dense prediction. Despite of their success, limited work has been reported on improving the model…

Extracting robust feature representation is one of the key challenges in object re-identification (ReID). Although convolution neural network (CNN)-based methods have achieved great success, they only process one local neighborhood at a…

Depth enhancement, which converts raw dToF signals into dense depth maps using RGB guidance, is crucial for improving depth perception in high-precision tasks such as 3D reconstruction and SLAM. However, existing methods often assume ideal…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…