相关论文: SupeRGB-D: Zero-shot Instance Segmentation in Clut…
In order to function in unstructured environments, robots need the ability to recognize unseen objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However, the…
In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…
Deep learning has significantly improved the precision of instance segmentation with abundant labeled data. However, in many areas like medical and manufacturing, collecting sufficient data is extremely hard and labeling this data requires…
Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…
3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…
Recent advances in object segmentation have demonstrated that deep neural networks excel at object segmentation for specific classes in color and depth images. However, their performance is dictated by the number of classes and objects used…
We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…
Segmenting unseen objects is a crucial ability for the robot since it may encounter new environments during the operation. Recently, a popular solution is leveraging RGB-D features of large-scale synthetic data and directly applying the…
Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…
Methods for object detection and segmentation often require abundant instance-level annotations for training, which are time-consuming and expensive to collect. To address this, the task of zero-shot object detection (or segmentation) aims…
Current Zero-Shot Learning (ZSL) approaches are restricted to recognition of a single dominant unseen object category in a test image. We hypothesize that this setting is ill-suited for real-world applications where unseen objects appear…
We introduce and tackle the problem of zero-shot object detection (ZSD), which aims to detect object classes which are not observed during training. We work with a challenging set of object classes, not restricting ourselves to similar…
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance…
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,…
We introduce 3D-SIS, a novel neural network architecture for 3D semantic instance segmentation in commodity RGB-D scans. The core idea of our method is to jointly learn from both geometric and color signal, thus enabling accurate instance…
Object detection is considered as one of the most challenging problems in computer vision, since it requires correct prediction of both classes and locations of objects in images. In this study, we define a more difficult scenario, namely…
This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…
Zero-shot instance segmentation aims to detect and precisely segment objects of unseen categories without any training samples. Since the model is trained on seen categories, there is a strong bias that the model tends to classify all the…
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…
In this paper we introduce a system for unsupervised object discovery and segmentation of RGBD-images. The system models the sensor noise directly from data, allowing accurate segmentation without sensor specific hand tuning of measurement…