17 accepted papers
Enabling robots to grasp disorganized cloth for efficient storage is valuable in robot-assisted room organization. Diverse deformations of cloth and the stacking of multiple items limit grasping-pose estimation that relies on annotations. This necessitates segmenting each cloth item in an unsupervis
Robotic manipulation of flat objects is challenging due to the ungraspable configurations and strong variations in object geometry and material. Existing methods rely on heuristic pre-manipulation and are often evaluated in closed settings with limited generalization. We propose a unified framework …
Achieving accurate garment grasping under dynamically changing illumination is crucial for all-day operation of service robots. However, the reduced illumination in low-light scenes severely degrades garment structural features, leading to a significant drop in grasping robustness. Existing methods
Robotic cloth grasping is a key component in many robotic cloth manipulation scenarios, such as automated wardrobe management, clothing laundering, and assisted dressing. Due to the deformability and large surface of cloth, which distinguishes it from conventional rigid targets, most current studies
The challenge of multimodal semantic segmentation lies in establishing semantically consistent and segmentable multimodal fusion features under conditions of significant visual feature discrepancies. Existing methods commonly construct cross-modal self-attention fusion frameworks or introduce additi…
With the availability of egocentric 3D hand-object interaction datasets, there is increasing interest in developing unified models for hand-object pose estimation and action recognition. However, existing methods still struggle to recognise seen actions on unseen objects due to the limitations in re…
Garment grasping in low-light environments is a critical challenge for domestic intelligent robots, yet existing research has not sufficiently addressed this issue. In low-light conditions, the scarcity of visual features due to insufficient illumination causes different categories of garments to ex
Recognizing various types of clothing is crucial for robotic clothing manipulation tasks, such as garment organization and robot-assisted dressing. Unlike rigid object recognition, clothing recognition remains a challenging task due to the diverse forms introduced by flexible deformations. However,
Modeling high-resolution spatiotemporal representations, including both global dynamic contexts (e.g., holistic human motion tendencies) and local motion details (e.g., high-frequency changes of keypoints), is essential for video-based human pose estimation (VHPE). Current state-of-the-art methods t…
Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes often lack significant landmarks and there are modal differenc…
In this paper, we reveal the two sides of data augmentation: enhancements in closed-set recognition correlate with a significant decrease in open-set recognition. Through empirical investigation, we find that multi-sample-based augmentations would contribute to reducing feature discrimination, there…
Clothes grasping and unfolding is a core step in robotic-assisted dressing. Most existing works leverage depth images of clothes to train a deep learning-based model to recognize suitable grasping points. These methods often utilize physics engines to synthesize depth images to reduce the cost of re…
Denoising diffusion probabilistic models that were initially proposed for realistic image generation have recently shown success in various perception tasks (e.g., object detection and image segmentation) and are increasingly gaining attention in computer vision. However, extending such models to mu…
Temporal modeling is crucial for multi-frame human pose estimation. Most existing methods directly employ optical flow or deformable convolution to predict full-spectrum motion fields, which might incur numerous irrelevant cues, such as a nearby person or background. Without further efforts to excav…
Multi-frame human pose estimation has long been a compelling and fundamental problem in computer vision. This task is challenging due to fast motion and pose occlusion that frequently occur in videos. State-of-the-art methods strive to incorporate additional visual evidences from neighboring frames…
We propose an online iterative path optimisation method to enable a Baxter humanoid robot to assist human users to dress. The robot searches for the optimal personalised dressing path using vision and force sensor information: vision information is used to recognise the human pose and model the move…
Assistive robots can improve the well-being of disabled or frail human users by reducing the burden that activities of daily living impose on them. To enable personalised assistance, such robots benefit from building a user-specific model, so that the assistance is customised to the particular set o…