相关论文: Object Instance Retrieval in Assistive Robotics: L…

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., "find a sink"). Our approach is…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

Object detection is a fundamental task in computer vision and has many applications in image processing. This paper proposes a new approach for object detection by applying scale invariant feature transform (SIFT) in an automatic…

Scene understanding and object recognition is a difficult to achieve yet crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have shown success in this task. However, there is still a gap between their performance on…

Environment perception, including object detection and distance estimation, is one of the most crucial tasks for autonomous driving. Many attentions have been paid on the object detection task, but distance estimation only arouse few…

Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…

Recently, self-supervised instance discrimination methods have achieved significant success in learning visual representations from unlabeled photographic images. However, given the marked differences between photographic and medical…

Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…

Visual object tracking performance has been dramatically improved in recent years, but some severe challenges remain open, like distractors and occlusions. We suspect the reason is that the feature representations of the tracking targets…

The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be…

Performing data augmentation for learning deep neural networks is known to be important for training visual recognition systems. By artificially increasing the number of training examples, it helps reducing overfitting and improves…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

We present a semi-supervised approach that localizes multiple unknown object instances in long videos. We start with a handful of labeled boxes and iteratively learn and label hundreds of thousands of object instances. We propose criteria…

Room reidentification (ReID) is a challenging yet essential task with numerous applications in fields such as augmented reality (AR) and homecare robotics. Existing visual place recognition (VPR) methods, which typically rely on global…

In recent years, developing AI for robotics has raised much attention. The interaction of vision and language of robots is particularly difficult. We consider that giving robots an understanding of visual semantics and language semantics…

Despite recent advancements in computer vision research, object detection in aerial images still suffers from several challenges. One primary challenge to be mitigated is the presence of multiple types of variation in aerial images, for…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their…

3D scene understanding has become an essential area of research with applications in autonomous driving, robotics, and augmented reality. Recently, 3D Gaussian Splatting (3DGS) has emerged as a powerful approach, combining explicit modeling…