相关论文: Mesh-based Object Tracking for Dynamic Semantic 3D…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight…

Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…

Despite the great success object detection and segmentation models have achieved in recognizing individual objects in images, performance on cognitive tasks such as image caption, semantic image retrieval, and visual QA is far from…

Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…

Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…

Scene graph generation refers to the task of automatically mapping an image into a semantic structural graph, which requires correctly labeling each extracted object and their interaction relationships. Despite the recent success in object…

This paper presents a framework for jointly grounding objects that follow certain semantic relationship constraints given in a scene graph. A typical natural scene contains several objects, often exhibiting visual relationships of varied…

The ability to map descriptions of scenes to 3D geometric representations has many applications in areas such as art, education, and robotics. However, prior work on the text to 3D scene generation task has used manually specified object…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Scene-graph generation involves creating a structural representation of the relationships between objects in a scene by predicting subject-object-relation triplets from input data. Existing methods show poor performance in detecting…

3D object detection is vital for many robotics applications. For tasks where a 2D perspective range image exists, we propose to learn a 3D representation directly from this range image view. To this end, we designed a 2D convolutional…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

We present 3DP3, a framework for inverse graphics that uses inference in a structured generative model of objects, scenes, and images. 3DP3 uses (i) voxel models to represent the 3D shape of objects, (ii) hierarchical scene graphs to…

This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…

We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models…

This paper addresses the challenge of learning semantically and functionally meaningful 3D motion priors from real-world videos, in order to enable prediction of future 3D scene motion from a single input image. We propose a novel…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

Despite recent advancements in single-domain or single-object image generation, it is still challenging to generate complex scenes containing diverse, multiple objects and their interactions. Scene graphs, composed of nodes as objects and…