相关论文: Language-Conditioned Affordance-Pose Detection in …

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Planning in realistic environments requires searching in large planning spaces. Affordances are a powerful concept to simplify this search, because they model what actions can be successful in a given situation. However, the classical…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

3D point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

Affordance is crucial for intelligent robots in the context of object manipulation. In this paper, we argue that affordance should be task-/instruction-dependent, which is overlooked by many previous works. That is, different instructions…

Autonomous agents must often detect affordances: the set of behaviors enabled by a situation. Affordance detection is particularly helpful in domains with large action spaces, allowing the agent to prune its search space by avoiding futile…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

Deep neural networks for 3D point cloud understanding have achieved remarkable success in object classification and recognition, yet recent work shows that these models remain highly vulnerable to adversarial perturbations. Existing 3D…

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…

Drone-captured images present significant challenges in object detection due to varying shooting conditions, which can alter object appearance and shape. Factors such as drone altitude, angle, and weather cause these variations, influencing…

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise…

Short-Term object-interaction Anticipation consists of detecting the location of the next-active objects, the noun and verb categories of the interaction, and the time to contact from the observation of egocentric video. This ability is…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction of unknown joint angles makes prediction more complex than…

Visual affordance grounding aims to segment all possible interaction regions between people and objects from an image/video, which is beneficial for many applications, such as robot grasping and action recognition. However, existing methods…

We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…