相关论文: Shape Anchor Guided Holistic Indoor Scene Understa…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

We introduce SceneScript, a method that directly produces full scene models as a sequence of structured language commands using an autoregressive, token-based approach. Our proposed scene representation is inspired by recent successes in…

We propose and demonstrate a generative deep learning approach for the shape recognition of an arbitrary object from its acoustic scattering properties. The strategy exploits deep neural networks to learn the mapping between the latent…

Discriminative features are critical for machine learning applications. Most existing deep learning approaches, however, rely on convolutional neural networks (CNNs) for learning features, whose discriminant power is not explicitly…

Despite significant progress of deep learning in recent years, state-of-the-art semantic matching methods still rely on legacy features such as SIFT or HoG. We argue that the strong invariance properties that are key to the success of…

With the rapid development of measurement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

Textual-based prompt learning methods primarily employ multiple learnable soft prompts and hard class tokens in a cascading manner as text inputs, aiming to align image and text (category) spaces for downstream tasks. However, current…

Camouflaged object detection (COD) aims to segment objects visually embedded in their surroundings, which is a very challenging task due to the high similarity between the objects and the background. To address it, most methods often…

State-of-the-art object detection systems rely on an accurate set of region proposals. Several recent methods use a neural network architecture to hypothesize promising object locations. While these approaches are computationally efficient,…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

In the field of scene text spotting, previous OCR methods primarily relied on image encoders and pre-trained text information, but they often overlooked the advantages of incorporating human language instructions. To address this gap, we…

By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…

Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…

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…

To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…

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…

Amodal instance segmentation aims to predict the complete object mask including occluded regions that lack pixel-level observations and must be inferred with the aid of shape priors. Existing methods acquire shape priors through…

Reading irregular scene text of arbitrary shape in natural images is still a challenging problem, despite the progress made recently. Many existing approaches incorporate sophisticated network structures to handle various shapes, use extra…