相关论文: Depth Helps: Improving Pre-trained RGB-based Polic…

Depth maps are needed by various graphics rendering and processing operations. Depth map streaming is often necessary when such operations are performed in a distributed system and it requires in most cases fast performing compression,…

Mobile robots that manipulate their environments require high-accuracy scene understanding at close range. Typically this understanding is achieved with RGBD cameras, but the evaluation process for selecting an appropriate RGBD camera for…

Face manipulation detection has been receiving a lot of attention for the reliability and security of the face images/videos. Recent studies focus on using auxiliary information or prior knowledge to capture robust manipulation traces,…

Despite the substantial progress in deep learning, its adoption in industrial robotics projects remains limited, primarily due to challenges in data acquisition and labeling. Previous sim2real approaches using domain randomization require…

Depth perception models are typically trained on non-interactive datasets with predefined camera trajectories. However, this often introduces systematic biases into the learning process correlated to specific camera paths chosen during data…

This paper addresses the problem of estimating the depth map of a scene given a single RGB image. We propose a fully convolutional architecture, encompassing residual learning, to model the ambiguous mapping between monocular images and…

An autonomous system's perception engine must provide an accurate understanding of the environment for it to make decisions. Deep learning based object detection networks experience degradation in the performance and robustness for small…

Deep Reinforcement Learning (DRL) is a powerful framework for solving complex sequential decision-making problems, particularly in robotic control. However, its practical deployment is often hindered by the substantial amount of experience…

In this paper, we propose a deep learning based assistive system to improve the environment perception experience of visually impaired (VI). The system is composed of a wearable terminal equipped with an RGBD camera and an earphone, a…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

Camouflaged object detection (COD) presents a persistent challenge in accurately identifying objects that seamlessly blend into their surroundings. However, most existing COD models overlook the fact that visual systems operate within a…

Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

Existing color-guided depth super-resolution (DSR) approaches require paired RGB-D data as training samples where the RGB image is used as structural guidance to recover the degraded depth map due to their geometrical similarity. However,…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

Fall detection is a vital task in health monitoring, as it allows the system to trigger an alert and therefore enabling faster interventions when a person experiences a fall. Although most previous approaches rely on standard RGB video…

Video diffusion models provide powerful real-world simulators for embodied AI but remain limited in controllability for robotic manipulation. Recent works on trajectory-conditioned video generation address this gap but often rely on 2D…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

RGBD images, combining high-resolution color and lower-resolution depth from various types of depth sensors, are increasingly common. One can significantly improve the resolution of depth maps by taking advantage of color information; deep…