相关论文: XYZ-IBD: A High-precision Bin-picking Dataset for …

Despite the promising performance of existing visual models on public benchmarks, the critical assessment of their robustness for real-world applications remains an ongoing challenge. To bridge this gap, we propose an explainable visual…

Fully supervised salient object detection (SOD) has made considerable progress based on expensive and time-consuming data with pixel-wise annotations. Recently, to relieve the labeling burden while maintaining performance, some…

6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…

Binary Function Similarity Detection (BFSD) is a core problem in software security, supporting tasks such as vulnerability analysis, malware classification, and patch provenance. In the past few decades, numerous models and tools have been…

We developed a robust solution for real-time 6D object detection in industrial applications by integrating FoundationPose, SAM2, and LightGlue, eliminating the need for retraining. Our approach addresses two key challenges: the requirement…

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem…

Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…

While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

Visual pose tracking is playing an increasingly vital role in industrial contexts in recent years. However, the pose tracking for industrial metal objects remains a challenging task especially in the real world-environments, due to the…

We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…

Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

This paper introduces BIMCaP, a novel method to integrate mobile 3D sparse LiDAR data and camera measurements with pre-existing building information models (BIMs), enhancing fast and accurate indoor mapping with affordable sensors. BIMCaP…

Instance detection (InsDet) is a long-lasting problem in robotics and computer vision, aiming to detect object instances (predefined by some visual examples) in a cluttered scene. Despite its practical significance, its advancement is…

Bin picking systems in factory automation usually face robustness issues caused by sparse and noisy 3D data of metallic objects. Utilizing multiple views, especially with a one-shot 3D sensor and "sensor on hand" configuration is getting…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

3D assembly tasks, such as furniture assembly and component fitting, play a crucial role in daily life and represent essential capabilities for future home robots. Existing benchmarks and datasets predominantly focus on assembling geometric…

While recent advances in object suction grasping have shown remarkable progress, significant challenges persist particularly in cluttered and complex parcel handling scenarios. Two fundamental limitations hinder current approaches: (1) the…

Robust perception is critical for autonomous driving, especially under adverse weather and lighting conditions that commonly occur in real-world environments. In this paper, we introduce the Stereo Image Dataset (SID), a large-scale…

The advancement of computer vision and machine learning has made datasets a crucial element for further research and applications. However, the creation and development of robots with advanced recognition capabilities are hindered by the…