相关论文: Multi-Object RANSAC: Efficient Plane Clustering Me…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

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…

Modern-day autonomous robots need high-level map representations to perform sophisticated tasks. Recently, 3D scene graphs (3DSGs) have emerged as a promising alternative to traditional grid maps, blending efficient memory use and rich…

Co-clustering targets on grouping the samples (e.g., documents, users) and the features (e.g., words, ratings) simultaneously. It employs the dual relation and the bilateral information between the samples and features. In many realworld…

Deep multi-view clustering incorporating graph learning has presented tremendous potential. Most methods encounter costly square time consumption w.r.t. data size. Theoretically, anchor-based graph learning can alleviate this limitation,…

Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…

We focus on the task of goal-oriented grasping, in which a robot is supposed to grasp a pre-assigned goal object in clutter and needs some pre-grasp actions such as pushes to enable stable grasps. However, in this task, the robot gets…

This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are conducted in the first stage. Fine segmentation, detection,…

Conventional SLAM algorithms takes a strong assumption of scene motionlessness, which limits the application in real environments. This paper tries to tackle the challenging visual SLAM issue of moving objects in dynamic environments. We…

The task of grasp pattern recognition aims to derive the applicable grasp types of an object according to the visual information. Current state-of-the-art methods ignore category information of objects which is crucial for grasp pattern…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

We discuss topological aspects of cluster analysis and show that inferring the topological structure of a dataset before clustering it can considerably enhance cluster detection: theoretical arguments and empirical evidence show that…

Clustering high-dimensional spatiotemporal data using an unsupervised approach is a challenging problem for many data-driven applications. Existing state-of-the-art methods for unsupervised clustering use different similarity and distance…

Multi-view spectral clustering can effectively reveal the intrinsic cluster structure among data by performing clustering on the learned optimal embedding across views. Though demonstrating promising performance in various applications,…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

In autonomous vehicles or robots, point clouds from LiDAR can provide accurate depth information of objects compared with 2D images, but they also suffer a large volume of data, which is inconvenient for data storage or transmission. In…

The coexistence of radar and communications in wireless systems marks a paradigm shift for the sixth-generation (6G) networks. As 6G systems are expected to operate at higher frequencies and employ larger antenna arrays than…