相关论文: DRMOT: A Dataset and Framework for RGBD Referring …

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

Recent guided depth super-resolution methods are premised on the assumption of strict spatial alignment between depth and RGB, achieving high-quality depth reconstruction. However, in real-world scenarios, the acquisition of strictly…

Multimodal large language models (MLLMs) have achieved impressive performance across various tasks such as image captioning and visual question answer(VQA); however, they often struggle to accurately interpret depth information inherent in…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

3D Multi-Object Tracking (MOT) obtains significant performance improvements with the rapid advancements in 3D object detection, particularly in cost-effective multi-camera setups. However, the prevalent end-to-end training approach for…

Exploring robust and efficient association methods has always been an important issue in multiple-object tracking (MOT). Although existing tracking methods have achieved impressive performance, congestion and frequent occlusions still pose…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

Multi-object tracking (MOT) is a challenging vision task that aims to detect individual objects within a single frame and associate them across multiple frames. Recent MOT approaches can be categorized into two-stage tracking-by-detection…

Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level accuracy, making them less suitable for…

Automated monitoring and analysis of passenger movement in safety-critical parts of transport infrastructures represent a relevant visual surveillance task. Recent breakthroughs in visual representation learning and spatial sensing opened…

While Multi-Object Tracking (MOT) has made substantial advancements, it is limited by heavy reliance on prior knowledge and limited to predefined categories. In contrast, Generic Multiple Object Tracking (GMOT), tracking multiple objects…

In a generic object tracking, depth (D) information provides informative cues for foreground-background separation and target bounding box regression. However, so far, few trackers have used depth information to play the important role…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Drones, or general UAVs, equipped with a single camera have been widely deployed to a broad range of applications, such as aerial photography, fast goods delivery and most importantly, surveillance. Despite the great progress achieved in…

This paper presents a fast and modular framework for Multi-Object Tracking (MOT) based on the Markov descision process (MDP) tracking-by-detection paradigm. It is designed to allow its various functional components to be replaced by…

In this work, we consider data association problems involving multi-object tracking (MOT). In particular, we address the challenges arising from object occlusions. We propose a framework called approximate dynamic programming track…

Language-vision understanding has driven the development of advanced perception systems, most notably the emerging paradigm of Referring Multi-Object Tracking (RMOT). By leveraging natural-language queries, RMOT systems can selectively…

3D multi-object detection and tracking are crucial for traffic scene understanding. However, the community pays less attention to these areas due to the lack of a standardized benchmark dataset to advance the field. Moreover, existing…

RGBT tracking draws increasing attention because its robustness in multi-modal warranting (MMW) scenarios, such as nighttime and adverse weather conditions, where relying on a single sensing modality fails to ensure stable tracking results.…