相关论文: CabiNet: Scaling Neural Collision Detection for Ob…

Robotic object rearrangement combines the skills of picking and placing objects. When object models are unavailable, typical collision-checking models may be unable to predict collisions in partial point clouds with occlusions, making…

Camouflaged object detection segments objects with intrinsic similarity and edge disruption. Current detection methods rely on accumulated complex components. Each approach adds components such as boundary modules, attention mechanisms, and…

Automated waste recycling aims to efficiently separate the recyclable objects from the waste by employing vision-based systems. However, the presence of varying shaped objects having different material types makes it a challenging problem,…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

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…

Scene recognition is an image recognition problem aimed at predicting the category of the place at which the image is taken. In this paper, a new scene recognition method using the convolutional neural network (CNN) is proposed. The…

Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…

Utilizing the latest advances in Artificial Intelligence (AI), the computer vision community is now witnessing an unprecedented evolution in all kinds of perception tasks, particularly in object detection. Based on multiple spatially…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Rapid, accurate and robust detection of looming objects in cluttered moving backgrounds is a significant and challenging problem for robotic visual systems to perform collision detection and avoidance tasks. Inspired by the neural circuit…

We present an efficient and automatic approach for accurate reconstruction of instances of big 3D objects from multiple, unorganized and unstructured point clouds, in presence of dynamic clutter and occlusions. In contrast to conventional…

Objects at different spatial positions in an image exhibit different scales. Adaptive receptive fields are expected to capture suitable ranges of context for accurate pixel level semantic prediction. Recently, atrous convolution with…

Camouflaged object detection identifies objects that blend seamlessly with their surroundings through similar colors, textures, and patterns. This task challenges both traditional segmentation methods and modern foundation models, which…

The unique properties of radar sensors, such as their robustness to adverse weather conditions, make them an important part of the environment perception system of autonomous vehicles. One of the first steps during the processing of radar…

The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…

Vision-based vehicle detection approaches achieve incredible success in recent years with the development of deep convolutional neural network (CNN). However, existing CNN based algorithms suffer from the problem that the convolutional…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…