相关论文: AnyOKP: One-Shot and Instance-Aware Object Keypoin…

We present an attention based visual analysis framework to compute grasp-relevant information in order to guide grasp planning using a multi-fingered robotic hand. Our approach uses a computational visual attention model to locate regions…

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a…

Image colorization is inherently an ill-posed problem with multi-modal uncertainty. Previous methods leverage the deep neural network to map input grayscale images to plausible color outputs directly. Although these learning-based methods…

Data augmentation remains a widely utilized technique in deep learning, particularly in tasks such as image classification, semantic segmentation, and object detection. Among them, Copy-Paste is a simple yet effective method and gain great…

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Depth-aware video panoptic segmentation is a promising approach to camera based scene understanding. However, the current state-of-the-art methods require costly video annotations and use a complex training pipeline compared to their…

We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB…

Visual Place Recognition (VPR) aims to match a query image to reference images of the same place in a large-scale database. Recent state-of-the-art methods employ Vision Transformers (ViTs) as backbone foundation models to extract…

Image-to-video adaptation seeks to efficiently adapt image models for use in the video domain. Instead of finetuning the entire image backbone, many image-to-video adaptation paradigms use lightweight adapters for temporal modeling on top…

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…

Object proposals for detecting moving or static video objects need to address issues such as speed, memory complexity and temporal consistency. We propose an efficient Video Object Proposal (VOP) generation method and show its efficacy in…

We propose a deep video prediction model conditioned on a single image and an action class. To generate future frames, we first detect keypoints of a moving object and predict future motion as a sequence of keypoints. The input image is…

In the domain of Few-Shot Image Classification, operating with as little as one example per class, the presence of image ambiguities stemming from multiple objects or complex backgrounds can significantly deteriorate performance. Our…

As Vision Transformers (ViTs) are increasingly adopted in sensitive vision applications, there is a growing demand for improved interpretability. This has led to efforts to forward-align these models with carefully annotated abstract,…

We propose a new method for object pose estimation without CAD models. The previous feature-matching-based method OnePose has shown promising results under a one-shot setting which eliminates the need for CAD models or object-specific…

Although instance segmentation has made considerable advancement over recent years, it's still a challenge to design high accuracy algorithms with real-time performance. In this paper, we propose a real-time instance segmentation framework…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Given a query patch from a novel class, one-shot object detection aims to detect all instances of that class in a target image through the semantic similarity comparison. However, due to the extremely limited guidance in the novel class as…

Background and Objective: Prototype-based methods improve interpretability by learning fine-grained part-prototypes; however, their visualization in the input pixel space is not always consistent with human-understandable biomarkers. In…