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Jemo Maeng

dblp:416/6695 · DBLP profile ↗
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1ranked-venue papers
0as first author
1since 2021 · last 2025
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 since 2021Systems, architecture and hardware · 1 · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Segmentation and scene understanding · 77% Robot manipulation · 23%

Topics — the 2 heaviest of 2, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Computer vision › Segmentation and scene understanding › instance segmentation
unseen object instance segmentation
0.912025
High-Quality Unknown Object Instance Segmentation via Quadruple Boundary Error Refinement · ICRA 2025
Robotics › Robot manipulation › grasping
grasping in clutter
0.312025
High-Quality Unknown Object Instance Segmentation via Quadruple Boundary Error Refinement · ICRA 2025

Methods — techniques the papers use, named apart from their topics

error-guided fusion · 0.9boundary error estimation · 0.9
YearPublicationVenuePosition
2025 High-Quality Unknown Object Instance Segmentation via Quadruple Boundary Error Refinement
abstract
Accurate and efficient segmentation of unknown objects in unstructured environments is essential for robotic manipulation. Unknown Object Instance Segmentation (UOIS), which aims to identify all objects in unknown categories and backgrounds, has become a key capability for various robotic tasks. However, existing methods struggle with over-segmentation and under-segmentation, leading to failures in manipulation tasks such as grasping. To address these challenges, we propose QuBER (Quadruple Boundary Error Refinement), a novel error-informed refinement approach for high-quality UOIS. QuBER first estimates quadruple boundary errors-true positive, true negative, false positive, and false negative pixels-at the instance boundaries of the initial segmentation. It then refines the segmentation using an error-guided fusion mechanism, effectively correcting both fine-grained and instance-level segmentation errors. Extensive evaluations on three public benchmarks demonstrate that QuBER outperforms state-of-the-art methods and consistently improves various UOIS methods while maintaining a fast inference time of less than 0.1 seconds. Furthermore, we show that QuBER improves the success rate of grasping target objects in cluttered environments. Code and supplementary materials are available at https://sites.google.com/view/uois-quber.
Seunghyeok Back, Sangbeom Lee, Kangmin Kim, Joosoon Lee, Sungho Shin, Jemo Maeng, Kyoobin Lee
ICRA6