相关论文: TrackAgent: 6D Object Tracking via Reinforcement L…

Standard RGB-D trackers treat the target as an inherently 2D structure, which makes modelling appearance changes related even to simple out-of-plane rotation highly challenging. We address this limitation by proposing a novel long-term…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

This work concerns itself with the task of reconstructing all edges of an arbitrary 3D wire-frame model projected to an image plane. We explore a bottom-up part-wise procedure undertaken by an RL agent to segment and reconstruct these 2D…

Multi-object tracking from RGB-D video sequences is a challenging problem due to the combination of changing viewpoints, motion, and occlusions over time. We observe that having the complete geometry of objects aids in their tracking, and…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Reinforcement learning demonstrated immense success in modelling complex physics-driven systems, providing end-to-end trainable solutions by interacting with a simulated or real environment, maximizing a scalar reward signal. In this work,…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Augmented reality devices require multiple sensors to perform various tasks such as localization and tracking. Currently, popular cameras are mostly frame-based (e.g. RGB and Depth) which impose a high data bandwidth and power usage. With…

Deep reinforcement learning agents, trained on raw pixel inputs, often fail to generalize beyond their training environments, relying on spurious correlations and irrelevant background details. To address this issue, object-centric agents…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…

We present an approach for reconfiguration of dynamic visual sensor networks with deep reinforcement learning (RL). Our RL agent uses a modified asynchronous advantage actor-critic framework and the recently proposed Relational Network…

Today, most methods for image understanding tasks rely on feed-forward neural networks. While this approach has allowed for empirical accuracy, efficiency, and task adaptation via fine-tuning, it also comes with fundamental disadvantages.…

In this paper, the main task we aim to tackle is the multi-instance semi-supervised video object segmentation across a sequence of frames where only the first-frame box-level ground-truth is provided. Detection-based algorithms are widely…

In recent years, unmanned aerial vehicle (UAV) related technology has expanded knowledge in the area, bringing to light new problems and challenges that require solutions. Furthermore, because the technology allows processes usually carried…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Conventional visual object trackers localize targets using handcrafted spatial priors, often in the form of heatmaps. Such priors provide only surrogate supervision and are poorly aligned with tracking optimization and evaluation metrics,…

Point tracking is a fundamental problem in computer vision with numerous applications in AR and robotics. A common failure mode in long-term point tracking occurs when the predicted point leaves the object it belongs to and lands on the…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

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…