相关论文: DLOFTBs -- Fast Tracking of Deformable Linear Obje…

Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…

The main challenge of Multiple Object Tracking (MOT) is the efficiency in associating indefinite number of objects between video frames. Standard motion estimators used in tracking, e.g., Long Short Term Memory (LSTM), only deal with single…

Object tracking is an important step in robotics and reautonomous driving pipelines, which has to generalize to previously unseen and complex objects. Existing high-performing methods often rely on pre-captured object views to build…

We introduce Neural Deformation Graphs for globally-consistent deformation tracking and 3D reconstruction of non-rigid objects. Specifically, we implicitly model a deformation graph via a deep neural network. This neural deformation graph…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…

Tracking transforming objects holds significant importance in various fields due to the dynamic nature of many real-world scenarios. By enabling systems accurately represent transforming objects over time, tracking transforming objects…

The skeleton is an essential shape characteristic providing a compact representation of the studied shape. Its computation on the image grid raises many issues. Due to the effects of discretization, the required properties of the skeleton -…

Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment. Current approaches use a template-based deformable tracking to recover the camera pose and the deformation of the map. These…

Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in…

Visual object tracking is a fundamental and time-critical vision task. Recent years have seen many shallow tracking methods based on real-time pixel-based correlation filters, as well as deep methods that have top performance but need a…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

The problem of Multiple Object Tracking (MOT) consists in following the trajectory of different objects in a sequence, usually a video. In recent years, with the rise of Deep Learning, the algorithms that provide a solution to this problem…

Deformable Linear Objects (DLOs) such as ropes and cables are widely encountered in both household and industrial applications, yet remain challenging to manipulate due to their infinite-dimensional configuration space and frequent…

Object detection is considered one of the most challenging problems in this field of computer vision, as it involves the combination of object classification and object localization within a scene. Recently, deep neural networks (DNNs) have…

Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and…

We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…

Motion artifacts caused by prolonged acquisition time are a significant challenge in Magnetic Resonance Imaging (MRI), hindering accurate tissue segmentation. These artifacts appear as blurred images that mimic tissue-like appearances,…

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…