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

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

Focus based methods have shown promising results for the task of depth estimation. However, most existing focus based depth estimation approaches depend on maximal sharpness of the focal stack. Out of focus information in the focal stack…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

The perception of transparent objects for grasp and manipulation remains a major challenge, because existing robotic grasp methods which heavily rely on depth maps are not suitable for transparent objects due to their unique visual…

Dense depth maps have been used as a key element of visual perception tasks. There have been tremendous efforts to enhance the depth quality, ranging from optimization-based to learning-based methods. Despite the remarkable progress for a…

Indoor robots rely on depth to perform tasks like navigation or obstacle detection, and single-image depth estimation is widely used to assist perception. Most indoor single-image depth prediction focuses less on model generalizability to…

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

Existing depth sensors are imperfect and may provide inaccurate depth values in challenging scenarios, such as in the presence of transparent or reflective objects. In this work, we present a general framework that leverages polarization…

Due to the optical properties, transparent objects often lead depth cameras to generate incomplete or invalid depth data, which in turn reduces the accuracy and reliability of robotic grasping. Existing approaches typically input the RGB-D…

We consider the problem of human pose estimation. While much recent work has focused on the RGB domain, these techniques are inherently under-constrained since there can be many 3D configurations that explain the same 2D projection. To this…

Recent advancements in reinforcement learning (RL) have led to remarkable achievements in robot locomotion capabilities. However, the complexity and ``black-box'' nature of neural network-based RL policies hinder their interpretability and…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

Image-guided depth completion aims at generating a dense depth map from sparse LiDAR data and RGB image. Recent methods have shown promising performance by reformulating it as a classification problem with two sub-tasks: depth…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Salient object detection (SOD) is a crucial and preliminary task for many computer vision applications, which have made progress with deep CNNs. Most of the existing methods mainly rely on the RGB information to distinguish the salient…

Semi-Supervised Instance Segmentation (SSIS) aims to leverage an amount of unlabeled data during training. Previous frameworks primarily utilized the RGB information of unlabeled images to generate pseudo-labels. However, such a mechanism…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…