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

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

RGB-based surface anomaly detection methods have advanced significantly. However, certain surface anomalies remain practically invisible in RGB alone, necessitating the incorporation of 3D information. Existing approaches that employ…

In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling…

State-of-the-art object detectors usually learn multi-scale representations to get better results by employing feature pyramids. However, the current designs for feature pyramids are still inefficient to integrate the semantic information…

This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruction. Previous dynamic SLAM methods either rely on semantic…

The high performance of RGB-D based road segmentation methods contrasts with their rare application in commercial autonomous driving, which is owing to two reasons: 1) the prior methods cannot achieve high inference speed and high accuracy…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

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…

Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…

Salient object detection (SOD) is a crucial and preliminary task for many computer vision applications, which have made progress with deep CNNs. Most of the existing methods mainly rely on the RGB information to distinguish the salient…

Attention models have recently emerged as a powerful approach, demonstrating significant progress in various fields. Visualization techniques, such as class activation mapping, provide visual insights into the reasoning of convolutional…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural net that takes in RGB, depth, and normal information of a planar patch in an…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Accurate fall detection for the assistance of older people is crucial to reduce incidents of deaths or injuries due to falls. Meanwhile, a vision-based fall detection system has shown some significant results to detect falls. Still,…

A popular and affordable option to provide room-scale human behaviour tracking is to rely on commodity RGB-D sensors %todo: such as the Kinect family of devices? as such devices offer body tracking capabilities at a reasonable price point.…

Accurate building segmentation from high-resolution RGB imagery remains challenging due to spectral similarity with non-building features, shadows, and irregular building geometries. In this study, we present a comprehensive deep learning…

A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural…