相关论文: Correct-by-Construction Vision-based Pose Estimati…

6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection.…

Anticipating traffic accidents is a critical yet unresolved problem for autonomous driving, hindered by the inherent complexity of modeling interactions between road users and the limited availability of diverse, large-scale datasets. To…

The ability to predict multiple possible future positions of the ego-vehicle given the surrounding context while also estimating their probabilities is key to safe autonomous driving. Most of the current state-of-the-art Deep Learning…

Shape deviation modeling and compensation in additive manufacturing are pivotal for achieving high geometric accuracy and enabling industrial-scale production. Critical challenges persist, including generalizability across complex…

We propose a new probabilistic framework that allows mobile robots to autonomously learn deep, generative models of their environments that span multiple levels of abstraction. Unlike traditional approaches that combine engineered models…

Contemporary deep learning models have achieved impressive performance in image classification by primarily leveraging statistical regularities within large datasets, but they rarely incorporate structured insights drawn directly from…

One of the most promising developments in computer vision in recent years is the use of generative neural networks for functionality condition-based 3D design reconstruction and generation. Here, neural networks learn dependencies between…

Accurate and effective 3D object detection is critical for ensuring the driving safety of autonomous vehicles. Recently, state-of-the-art two-stage 3D object detectors have exhibited promising performance. However, these methods refine…

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…

Object detection is an important task in environment perception for autonomous driving. Modern 2D object detection frameworks such as Yolo, SSD or Faster R-CNN predict multiple bounding boxes per object that are refined using…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

Object pose estimation is important for object manipulation and scene understanding. In order to improve the general applicability of pose estimators, recent research focuses on providing estimates for novel objects, that is objects unseen…

Pose Machines provide a sequential prediction framework for learning rich implicit spatial models. In this work we show a systematic design for how convolutional networks can be incorporated into the pose machine framework for learning…

In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…