相关论文: Self-Supervised Instance Segmentation by Grasping

We propose a deep learning-based framework for instance-level object segmentation. Our method mainly consists of three steps. First, We train a generic model based on ResNet-101 for foreground/background segmentations. Second, based on this…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Humans, this species expert in grasp detection, can grasp objects by taking into account hand-object positioning information. This work proposes a method to enable a robot manipulator to learn the same, grasping objects in the most optimal…

Parts provide a good intermediate representation of objects that is robust with respect to the camera, pose and appearance variations. Existing works on part segmentation is dominated by supervised approaches that rely on large amounts of…

In recent years, instance segmentation has garnered significant attention across various applications. However, training a fully-supervised instance segmentation model requires costly both instance-level and pixel-level annotations. In…

Instance segmentation is essential for applications such as automated monitoring of plant health, growth, and yield. However, extensive effort is required to create large-scale datasets with pixel-level annotations of each object instance…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…

Instance segmentation of biological images is essential for studying object behaviors and properties. The challenges, such as clustering, occlusion, and adhesion problems of the objects, make instance segmentation a non-trivial task.…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

Instance segmentation aims to delineate each individual object of interest in an image. State-of-the-art approaches achieve this goal by either partitioning semantic segmentations or refining coarse representations of detected objects. In…

Instance segmentation aims to detect and segment individual objects in a scene. Most existing methods rely on precise mask annotations of every category. However, it is difficult and costly to segment objects in novel categories because a…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

We describe an unsupervised method to detect and segment portions of images of live scenes that, at some point in time, are seen moving as a coherent whole, which we refer to as objects. Our method first partitions the motion field by…

Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…

Segmenting unseen object instances in cluttered environments is an important capability that robots need when functioning in unstructured environments. While previous methods have exhibited promising results, they still tend to provide…

Interactive image segmentation enables users to interact minimally with a machine, facilitating the gradual refinement of the segmentation mask for a target of interest. Previous studies have demonstrated impressive performance in…

Instance segmentation is one of the actively studied research topics in computer vision in which many objects of interest should be separated individually. While many feed-forward networks produce high-quality segmentation on different…

Grasping objects successfully from a single-view camera is crucial in many robot manipulation tasks. An approach to solve this problem is to leverage simulation to create large datasets of pairs of objects and grasp poses, and then learn a…