相关论文: Bimodal SegNet: Instance Segmentation Fusing Event…

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…

Automatic segmentation of fine-grained brain structures remains a challenging task. Current segmentation methods mainly utilize 2D and 3D deep neural networks. The 2D networks take image slices as input to produce coarse segmentation in…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

In this paper, we introduce a self-supervised approach for video object segmentation without human labeled data.Specifically, we present Robust Pixel-level Matching Net-works (RPM-Net), a novel deep architecture that matches pixels between…

Our way of grasping objects is challenging for efficient, intelligent and optimal grasp by COBOTs. To streamline the process, here we use deep learning techniques to help robots learn to generate and execute appropriate grasps quickly. We…

Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with large-scale real-world data collection, robust perception…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

We propose a novel deep architecture, SegNet, for semantic pixel wise image labelling. SegNet has several attractive properties; (i) it only requires forward evaluation of a fully learnt function to obtain smooth label predictions, (ii)…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Despite rapid progress in scene segmentation in recent years, 3D segmentation methods are still limited when there is severe occlusion. The key challenge is estimating the segment boundaries of (partially) occluded objects, which are…

Salient object detection is the pixel-level dense prediction task which can highlight the prominent object in the scene. Recently U-Net framework is widely used, and continuous convolution and pooling operations generate multi-level…

The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Semantic segmentation, which refers to pixel-wise classification of an image, is a fundamental topic in computer vision owing to its growing importance in robot vision and autonomous driving industries. It provides rich information about…

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which…

Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient…

We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an object detection branch to localize and classify the object, and…

Semantic segmentation of RGB-D images involves understanding the appearance and spatial relationships of objects within a scene, which requires careful consideration of various factors. However, in indoor environments, the simple input of…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…