相关论文: HabitatDyn Dataset: Dynamic Object Detection to Ki…

We present a dataset of large-scale indoor spaces that provides a variety of mutually registered modalities from 2D, 2.5D and 3D domains, with instance-level semantic and geometric annotations. The dataset covers over 6,000m2 and contains…

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 show, for the first time, that neural networks trained only on synthetic data achieve state-of-the-art accuracy on the problem of 3D human pose and shape (HPS) estimation from real images. Previous synthetic datasets have been small,…

This paper presents a new dataset for Novel View Synthesis, generated from a high-quality, animated film with stunning realism and intricate detail. Our dataset captures a variety of dynamic scenes, complete with detailed textures,…

Digital twin is a problem of augmenting real objects with their digital counterparts. It can underpin a wide range of applications in augmented reality (AR), autonomy, and UI/UX. A critical component in a good digital-twin system is…

This paper addresses the challenges of data scarcity and high acquisition costs in training robust object detection models for complex industrial environments, such as offshore oil platforms. Data collection in these hazardous settings…

Advancements in foundation models have catalyzed research in Embodied AI to develop interactive agents capable of environmental reasoning and interaction. Developing such agents requires diverse, large-scale datasets. Prior frameworks…

Historically, feature-based approaches have been used extensively for camera-based robot perception tasks such as localization, mapping, tracking, and others. Several of these approaches also combine other sensors (inertial sensing, for…

Intuitive user interfaces are indispensable to interact with the human centric smart environments. In this paper, we propose a unified framework that recognizes both static and dynamic gestures, using simple RGB vision (without depth…

In soccer video analysis, player detection is essential for identifying key events and reconstructing tactical positions. The presence of numerous players and frequent occlusions, combined with copyright restrictions, severely restricts the…

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…

We present a new dataset, called Falling Things (FAT), for advancing the state-of-the-art in object detection and 3D pose estimation in the context of robotics. By synthetically combining object models and backgrounds of complex composition…

Advancements in deep neural networks have contributed to near perfect results for many computer vision problems such as object recognition, face recognition and pose estimation. However, human action recognition is still far from…

High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…

We propose scaling up 3D scene reconstruction by training with synthesized data. At the core of our work is MegaSynth, a procedurally generated 3D dataset comprising 700K scenes - over 50 times larger than the prior real dataset DL3DV -…

We present a novel dataset for training and benchmarking semantic SLAM methods. The dataset consists of 200 long sequences, each one containing 3000-5000 data frames. We generate the sequences using realistic home layouts. For that we…

Learning meaningful and compact representations with disentangled semantic aspects is considered to be of key importance in representation learning. Since real-world data is notoriously costly to collect, many recent state-of-the-art…

This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the ``Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D,…

A deep understanding of the physical world is a central goal for embodied AI and realistic simulation. While current models excel at capturing an object's surface geometry and appearance, they largely neglect its internal physical…

Point tracking aims to follow visual points through complex motion, occlusion, and viewpoint changes, and has advanced rapidly with modern foundation models. Yet progress toward general point tracking remains constrained by limited…