相关论文: Learning-based Relational Object Matching Across V…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…

Object perception is a fundamental sub-field of Computer Vision, covering a multitude of individual areas and having contributed high-impact results. While Machine Learning has been traditionally applied to address related problems, recent…

We propose a novel learned keypoint detection method to increase the number of correct matches for the task of non-rigid image correspondence. By leveraging true correspondences acquired by matching annotated image pairs with a specified…

Human activity recognition is typically addressed by detecting key concepts like global and local motion, features related to object classes present in the scene, as well as features related to the global context. The next open challenges…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

We live in a dynamic world where things change all the time. Given two images of the same scene, being able to automatically detect the changes in them has practical applications in a variety of domains. In this paper, we tackle the change…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Detecting semantic parts of an object is a challenging task in computer vision, particularly because it is hard to construct large annotated datasets due to the difficulty of annotating semantic parts. In this paper we present an approach…

In recent years, object detection has shown impressive results using supervised deep learning, but it remains challenging in a cross-domain environment. The variations of illumination, style, scale, and appearance in different domains can…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

The task of object viewpoint estimation has been a challenge since the early days of computer vision. To estimate the viewpoint (or pose) of an object, people have mostly looked at object intrinsic features, such as shape or appearance.…

Reasoning human object interactions is a core problem in human-centric scene understanding and detecting such relations poses a unique challenge to vision systems due to large variations in human-object configurations, multiple co-occurring…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

In this paper, we present a novel approach for object recognition in real-time by employing multilevel feature analysis and demonstrate the practicality of adapting feature extraction into a Naive Bayesian classification framework that…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…