相关论文: RGB-D Grasp Detection via Depth Guided Learning wi…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

RGB-D scene parsing methods effectively capture both semantic and geometric features of the environment, demonstrating great potential under challenging conditions such as extreme weather and low lighting. However, existing RGB-D scene…

This paper presents a novel deep neural network framework for RGB-D salient object detection by controlling the message passing between the RGB images and depth maps on the feature level and exploring the long-range semantic contexts and…

Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach. In this paper, a robotic grasp…

RGB-D has gradually become a crucial data source for understanding complex scenes in assisted driving. However, existing studies have paid insufficient attention to the intrinsic spatial properties of depth maps. This oversight…

Most of the existing handcrafted and learning-based local descriptors are still at best approximately invariant to affine image transformations, often disregarding deformable surfaces. In this paper, we take one step further by proposing a…

Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…

Commodity RGB-D sensors capture color images along with dense pixel-wise depth information in real-time. Typical RGB-D sensors are provided with a factory calibration and exhibit erratic depth readings due to coarse calibration values,…

Salient object detection (SOD) is a crucial and preliminary task for many computer vision applications, which have made progress with deep CNNs. Most of the existing methods mainly rely on the RGB information to distinguish the salient…

RGBD images, combining high-resolution color and lower-resolution depth from various types of depth sensors, are increasingly common. One can significantly improve the resolution of depth maps by taking advantage of color information; deep…

This paper presents a novel masked attention-based 3D Gaussian Splatting (3DGS) approach to enhance robotic perception and object detection in industrial and smart factory environments. U2-Net is employed for background removal to isolate…

Depth images captured by off-the-shelf RGB-D cameras suffer from much stronger noise than color images. In this paper, we propose a method to denoise the depth images in RGB-D images by color-guided graph filtering. Our iterative method…

RGB-D salient object detection aims to identify the most visually distinctive objects in a pair of color and depth images. Based upon an observation that most of the salient objects may stand out at least in one modality, this paper…

Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from…

Vision-guided robot grasping based on Deep Neural Networks (DNNs) generalizes well but poses safety risks in the Human-Robot Interaction (HRI). Recent works solved it by designing benign adversarial attacks and patches with RGB modality,…

Understanding dynamic systems like disease outbreaks, social influence, and information diffusion requires effective modeling of complex networks. Traditional evaluation methods for static networks often fall short when applied to temporal…

In this paper, we propose a new progressive pre-training method for image understanding tasks which leverages RGB-D datasets. The method utilizes Multi-Modal Contrastive Masked Autoencoder and Denoising techniques. Our proposed approach…

Grasp detection in a cluttered environment is still a great challenge for robots. Currently, the Transformer mechanism has been successfully applied to visual tasks, and its excellent ability of global context information extraction…

We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural net that takes in RGB, depth, and normal information of a planar patch in an…

Fake content has grown at an incredible rate over the past few years. The spread of social media and online platforms makes their dissemination on a large scale increasingly accessible by malicious actors. In parallel, due to the growing…