相关论文: RoboEye: Enhancing 2D Robotic Object Identificatio…

We introduce YOLO11-JDE, a fast and accurate multi-object tracking (MOT) solution that combines real-time object detection with self-supervised Re-Identification (Re-ID). By incorporating a dedicated Re-ID branch into YOLO11s, our model…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

We present a deep learning method for end-to-end monocular 3D object detection and metric shape retrieval. We propose a novel loss formulation by lifting 2D detection, orientation, and scale estimation into 3D space. Instead of optimizing…

Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast,…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Recent works have shown that combining object detection and tracking tasks, in the case of video data, results in higher performance for both tasks, but they require a high frame-rate as a strict requirement for performance. This is…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

As mobile robot capabilities improve and deployment times increase, tools to analyze the growing volume of data are becoming necessary. Current state-of-the-art logging, playback, and exploration systems are insufficient for practitioners…

Monocular Metric Depth Estimation (MMDE) is essential for physically intelligent systems, yet accurate depth estimation for underrepresented classes in complex scenes remains a persistent challenge. To address this, we propose RAD, a…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

We consider a category-level perception problem, where one is given 2D or 3D sensor data picturing an object of a given category (e.g., a car), and has to reconstruct the 3D pose and shape of the object despite intra-class variability…

In manufacturing processes, surface inspection is a key requirement for quality assessment and damage localization. Due to this, automated surface anomaly detection has become a promising area of research in various industrial inspection…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

We introduce Hybrid Bayesian Eigenobjects (HBEOs), a novel representation for 3D objects designed to allow a robot to jointly estimate the pose, class, and full 3D geometry of a novel object observed from a single viewpoint in a single…

Embodied agents operating in complex and uncertain environments face considerable challenges. While some advanced agents handle complex manipulation tasks with proficiency, their success often hinges on extensive training data to develop…

Drone detection is a challenging object detection task where visibility conditions and quality of the images may be unfavorable, and detections might become difficult due to complex backgrounds, small visible objects, and hard to…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

Recently, research interest in person re-identification (ReID) has increasingly focused on video-based scenarios, which are essential for robust surveillance and security in varied and dynamic environments. However, existing video-based…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…