相关论文: Self-Supervised Instance Segmentation by Grasping

Grocery stores have thousands of products that are usually identified using barcodes with a human in the loop. For automated checkout systems, it is necessary to count and classify the groceries efficiently and robustly. One possibility is…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

This paper presents an end-to-end instance segmentation framework, termed SOIT, that Segments Objects with Instance-aware Transformers. Inspired by DETR \cite{carion2020end}, our method views instance segmentation as a direct set prediction…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Self-attention is of vital importance in semantic segmentation as it enables modeling of long-range context, which translates into improved performance. We argue that it is equally important to model short-range context, especially to…

Self-supervised Object Segmentation (SOS) aims to segment objects without any annotations. Under conditions of multi-camera inputs, the structural, textural and geometrical consistency among each view can be leveraged to achieve…

Grasp detection is an essential task in robotics with various industrial applications. However, traditional methods often struggle with occlusions and do not utilize language for grasping. Incorporating natural language into grasp detection…

Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…

The goal of this paper is to bypass the need for labelled examples in few-shot video understanding at run time. While proven effective, in many practical video settings even labelling a few examples appears unrealistic. This is especially…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

Medical Image Segmentation (MIS) plays a crucial role in medical therapy planning and robot navigation. Prototype learning methods in MIS focus on generating segmentation masks through pixel-to-prototype comparison. However, current…

We address the problem of segmenting an object given a natural language expression that describes it. Current techniques tackle this task by either (\textit{i}) directly or recursively merging linguistic and visual information in the…

Instance segmentation is an important problem in computer vision, with applications in autonomous driving, drone navigation and robotic manipulation. However, most existing methods are not real-time, complicating their deployment in…

Semi-supervised video object segmentation is a task of segmenting the target object in a video sequence given only a mask annotation in the first frame. The limited information available makes it an extremely challenging task. Most previous…

Self-supervised, category-agnostic segmentation of real-world images is a challenging open problem in computer vision. Here, we show how to learn static grouping priors from motion self-supervision by building on the cognitive science…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

Reconstructing dynamic driving scenes from dashcam videos has attracted increasing attention due to its significance in autonomous driving and scene understanding. While recent advances have made impressive progress, most methods still…

In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection,…

Instance segmentation of surgical instruments is a long-standing research problem, crucial for the development of many applications for computer-assisted surgery. This problem is commonly tackled via fully-supervised training of deep…

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…