相关论文: Learning Correspondence for Deformable Objects

In this paper, a deformable object is considered for cameras deployment with the aim of visual coverage. The object contour is discretized into sampled points as meshes, and the deformation is represented as continuous trajectories for the…

Planning robotic manipulation tasks, especially those that involve interaction between deformable and rigid objects, is challenging due to the complexity in predicting such interactions. We introduce SPONGE, a sequence planning pipeline…

Establishing dense correspondence between two images is a fundamental computer vision problem, which is typically tackled by matching local feature descriptors. However, without global awareness, such local features are often insufficient…

We propose a fast, accurate matching method for estimating dense pixel correspondences across scenes. It is a challenging problem to estimate dense pixel correspondences between images depicting different scenes or instances of the same…

We address the problem of semantic correspondence, that is, establishing a dense flow field between images depicting different instances of the same object or scene category. We propose to use images annotated with binary foreground masks…

This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid entities from the scene and continuously tracks them to…

The deformable linear objects (DLOs) are common in both industrial and domestic applications, such as wires, cables, ropes. Because of its highly deformable nature, it is difficult for the robot to reproduce human's dexterous skills on…

Dense 3D shape correspondence remains a central challenge in computer vision and graphics as many deep learning approaches still rely on intermediate geometric features or handcrafted descriptors, limiting their effectiveness under…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

In this paper, we propose deformable deep convolutional neural networks for generic object detection. This new deep learning object detection framework has innovations in multiple aspects. In the proposed new deep architecture, a new…

The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

We present an approach to learn dense, continuous 2D-3D correspondence distributions over the surface of objects from data with no prior knowledge of visual ambiguities like symmetry. We also present a new method for 6D pose estimation of…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

The key challenge in learning dense correspondences lies in the lack of ground-truth matches for real image pairs. While photometric consistency losses provide unsupervised alternatives, they struggle with large appearance changes, which…

The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…

Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…

This paper addresses the problem of establishing semantic correspondences between images depicting different instances of the same object or scene category. Previous approaches focus on either combining a spatial regularizer with…