相关论文: RGB-D-based Stair Detection using Deep Learning fo…

Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue…

Vision-based stair perception can help autonomous mobile robots deal with the challenge of climbing stairs, especially in unfamiliar environments. To address the problem that current monocular vision methods are difficult to model stairs…

A staircase localization method is proposed for robots to explore urban environments autonomously. The proposed method employs a modular design in the form of a cascade pipeline consisting of three modules of stair detection, line segment…

Automated monitoring and analysis of passenger movement in safety-critical parts of transport infrastructures represent a relevant visual surveillance task. Recent breakthroughs in visual representation learning and spatial sensing opened…

Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Multi-modality of color and depth, i.e., RGB-D, is of great importance in recent research of indoor scene recognition. In this kind of data representation, depth map is able to describe the 3D structure of scenes and geometric relations…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

Estimating depth from RGB images is a long-standing ill-posed problem, which has been explored for decades by the computer vision, graphics, and machine learning communities. Among the existing techniques, stereo matching remains one of the…

Scene recognition with RGB images has been extensively studied and has reached very remarkable recognition levels, thanks to convolutional neural networks (CNN) and large scene datasets. In contrast, current RGB-D scene data is much more…

Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly,…

Detection and recognition of staircase as upstairs, downstairs and negative (e.g., ladder) are the fundamental of assisting the visually impaired to travel independently in unfamiliar environments. Previous researches have focused on using…

Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…

The emergence of RGB-D sensors offered new possibilities for addressing complex artificial vision problems efficiently. Human posture recognition is among these computer vision problems, with a wide range of applications such as ambient…

Recently, deep Convolutional Neural Networks (CNN) have demonstrated strong performance on RGB salient object detection. Although, depth information can help improve detection results, the exploration of CNNs for RGB-D salient object…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

Pedestrian detection is one of the most popular topics in computer vision and robotics. Considering challenging issues in multiple pedestrian detection, we present a real-time depth-based template matching people detector. In this paper, we…

Autonomous agents that rely purely on perception to make real-time control decisions require efficient and robust architectures. In this work, we demonstrate that augmenting RGB input with depth information significantly enhances our…