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

Rotation estimation of known rigid objects is important for robotic applications such as dexterous manipulation. Most existing methods for rotation estimation use intermediate representations such as templates, global or local feature…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric…

Deep convolutional neural networks (DCNNs) are powerful models that yield impressive results at object classification. However, recent work has shown that they do not generalize well to partially occluded objects and to mask attacks. In…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

We tackle the problem of one-shot segmentation: finding and segmenting a previously unseen object in a cluttered scene based on a single instruction example. We propose a novel dataset, which we call $\textit{cluttered Omniglot}$. Using a…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Reliable 3D segmentation is critical for understanding complex scenes with dense layouts and multi-scale objects, as commonly seen in industrial environments. In such scenarios, heavy occlusion weakens geometric boundaries between objects,…

This work demonstrates how autonomously learning aspects of robotic operation from sparsely-labeled, real-world data of deployed, engineered solutions at industrial scale can provide with solutions that achieve improved performance.…

Calibrated confidence estimates obtained from neural networks are crucial, particularly for safety-critical applications such as autonomous driving or medical image diagnosis. However, although the task of confidence calibration has been…

Mistakes/uncertainties in object detection could lead to catastrophes when deploying robots in the real world. In this paper, we measure the uncertainties of object localization to minimize this kind of risk. Uncertainties emerge upon…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

We present a learning framework for recovering the 3D shape, camera, and texture of an object from a single image. The shape is represented as a deformable 3D mesh model of an object category where a shape is parameterized by a learned mean…

This paper focuses on pose registration of different object instances from the same category. This is required in online object mapping because object instances detected at test time usually differ from the training instances. Our approach…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

In this paper we present Latent-Class Hough Forests, a method for object detection and 6 DoF pose estimation in heavily cluttered and occluded scenarios. We adapt a state of the art template matching feature into a scale-invariant patch…

The existing object classification techniques based on descriptive features rely on object alignment to compute the similarity of objects for classification. This paper replaces the necessity of object alignment through sorting of feature.…

Point cloud completion, which aims at recovering original shape information from partial point clouds, has attracted attention on 3D vision community. Existing methods usually succeed in completion for standard shape, while failing to…

Retrieving an object from cluttered spaces suchas cupboards, refrigerators, or bins requires tracking objects with limited or no visual sensing. In these scenarios, contact feedback is necessary to estimate the pose of the objects, yet the…