相关论文: SupeRGB-D: Zero-shot Instance Segmentation in Clut…

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Instance segmentation of surgical instruments is a long-standing research problem, crucial for the development of many applications for computer-assisted surgery. This problem is commonly tackled via fully-supervised training of deep…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

State-of-the-art lidar panoptic segmentation (LPS) methods follow bottom-up segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think…

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…

Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…

Object detection has achieved a huge breakthrough with deep neural networks and massive annotated data. However, current detection methods cannot be directly transferred to the scenario where the annotated data is scarce due to the severe…

Parts represent a basic unit of geometric and semantic similarity across different objects. We argue that part knowledge should be composable beyond the observed object classes. Towards this, we present 3D Compositional Zero-shot Learning…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

Successful execution of dexterous robotic manipulation tasks in new environments, such as grasping, depends on the ability to proficiently segment unseen objects from the background and other objects. Previous works in unseen object…

We present a network architecture which compares RGB images and untextured 3D models by the similarity of the represented shape. Our system is optimised for zero-shot retrieval, meaning it can recognise shapes never shown in training. We…

Co-salient Object Detection (CoSOD) endeavors to replicate the human visual system's capacity to recognize common and salient objects within a collection of images. Despite recent advancements in deep learning models, these models still…

We propose an end-to-end learning framework for segmenting generic objects in both images and videos. Given a novel image or video, our approach produces a pixel-level mask for all "object-like" regions---even for object categories never…

Zero-shot learning (ZSL) for image classification focuses on recognizing novel categories that have no labeled data available for training. The learning is generally carried out with the help of mid-level semantic descriptors associated…

In this paper, we present InSeGAN, an unsupervised 3D generative adversarial network (GAN) for segmenting (nearly) identical instances of rigid objects in depth images. Using an analysis-by-synthesis approach, we design a novel GAN…

Automatic detection and segmentation of objects in 2D and 3D microscopy data is important for countless biomedical applications. In the natural image domain, spatial embedding-based instance segmentation methods are known to yield…

Zero-shot point cloud segmentation aims to make deep models capable of recognizing novel objects in point cloud that are unseen in the training phase. Recent trends favor the pipeline which transfers knowledge from seen classes with labels…