Alessio Xompero

Stereo Hand-Object Reconstruction for Human-to-Robot Handover

Jointly estimating hand and object shape facilitates the grasping task in human-to-robot handovers. However, relying on hand-crafted prior knowledge about the geometric structure of the object...

Segmenting Object Affordances: Reproducibility and Sensitivity to Scale

Visual affordance segmentation identifies image regions of an object an agent can interact with. Existing methods re-use and adapt learning-based architectures for semantic segmentation to the...

Towards safe human-to-robot handovers of unknown containers

Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties...

A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containers

Estimating the 6D pose and size of household containers is challenging due to large intra-class variations in the object properties, such as shape, size, appearance, and transparency. The task is...

The CORSMAL benchmark for the prediction of the properties of containers

The contactless estimation of the weight of a container and the amount of its content manipulated by a person are key pre-requisites for safe human-to-robot handovers. However, opaqueness and...

Affordance segmentation of hand-occluded containers from exocentric images

Visual affordance segmentation identifies the surfaces of an object an agent can interact with. Common challenges for the identification of affordances are the variety of the geometry and physical...

Improving filling level classification with adversarial training

We investigate the problem of classifying - from a single image - the level of content in a cup or a drinking glass. This problem is made challenging by several ambiguities caused by...

Audio classification of the content of food containers and drinking glasses

Food containers, drinking glasses and cups handled by a person generate sounds that vary with the type and amount of their content. In this paper, we propose a new model for sound-based...

Cross-Camera View-Overlap Recognition

We propose a decentralised view-overlap recognition framework that operates across freely moving cameras without the need of a reference 3D map. Each camera independently extracts, aggregates into...

Multi-view shape estimation of transparent containers

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper,...

An On-line Variational Bayesian Model for Multi-Person Tracking from Cluttered Scenes

Object tracking is an ubiquitous problem that appears in many applications such as remote sensing, audio processing, computer vision, human-machine interfaces, human-robot interaction, etc....

Multi-Camera Matching of Spatio-Temporal Binary Features

Towards safe human-to-robot handovers of unknown containers

Audio classification of the content of food containers and drinking glasses

On the Robustness of Vision-Language Models in Zero-Shot Privacy Classification

Accurate Target Annotation in 3D from Multimodal Streams

Multi-View Shape Estimation of Transparent Containers

Audio-Visual Object Classification for Human-Robot Collaboration