相关论文: Category-level Shape Estimation for Densely Clutte…

Image segmentation is the task of associating pixels in an image with their respective object class labels. It has a wide range of applications in many industries including healthcare, transportation, robotics, fashion, home improvement,…

In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…

This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…

High-energy physics detectors, images, and point clouds share many similarities in terms of object detection. However, while detecting an unknown number of objects in an image is well established in computer vision, even machine learning…

3D Cloth modeling and simulation is essential for avatars creation in several fields, such as fashion, entertainment, and animation. Achieving high-quality results is challenging due to the large variability of clothed body especially in…

We propose GeoFusion, a SLAM-based scene estimation method for building an object-level semantic map in dense clutter. In dense clutter, objects are often in close contact and severe occlusions, which brings more false detections and noisy…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

We present SeeingThroughClutter, a method for reconstructing structured 3D representations from single images by segmenting and modeling objects individually. Prior approaches rely on intermediate tasks such as semantic segmentation and…

While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc.…

Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Existing methods either rely on object-specific priors such as…

Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot…

In this paper, we propose a novel object detection algorithm named "Deep Regionlets" by integrating deep neural networks and a conventional detection schema for accurate generic object detection. Motivated by the effectiveness of regionlets…

In this paper, we propose multi-stage and deformable deep convolutional neural networks for object detection. This new deep learning object detection diagram has innovations in multiple aspects. In the proposed new deep architecture, a new…

By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion. Solving this task for composite scenes (such as object…

Volumetric image segmentation with convolutional neural networks (CNNs) encounters several challenges, which are specific to medical images. Among these challenges are large volumes of interest, high class imbalances, and difficulties in…

Object parsing and segmentation from point clouds are challenging tasks because the relevant data is available only as thin structures along object boundaries or other features, and is corrupted by large amounts of noise. To handle this…

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

The role of symmetry in computer vision has waxed and waned in importance during the evolution of the field from its earliest days. At first figuring prominently in support of bottom-up indexing, it fell out of favor as shape gave way to…