Related papers: Fusing Convolutional Neural Network and Geometric …

Convolutional Neural Networks (CNNs) have achieved remarkable success across a wide range of machine learning tasks by leveraging hierarchical feature learning through deep architectures. However, the large number of layers and millions of…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

The convolutional neural network (CNN) learns the same object in different positions in images, which can improve the recognition accuracy of the model. An implication of this is that CNN may know where the object is. The usefulness of the…

In this paper, we propose a method for image-set classification based on convex cone models, focusing on the effectiveness of convolutional neural network (CNN) features as inputs. CNN features have non-negative values when using the…

Recent localization frameworks exploit spatial information of complex channel measurements (CMs) to estimate accurate positions even in multipath propagation scenarios. State-of-the art CM fingerprinting(FP)-based methods employ…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

In this paper we propose a novel framework for learning local image descriptors in a discriminative manner. For this purpose we explore a siamese architecture of Deep Convolutional Neural Networks (CNN), with a Hinge embedding loss on the…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…

Tracking monocular colonoscope in the Gastrointestinal tract (GI) is a challenging problem as the images suffer from deformation, blurred textures, significant changes in appearance. They greatly restrict the tracking ability of…

Cameras and 2D laser scanners, in combination, are able to provide low-cost, light-weight and accurate solutions, which make their fusion well-suited for many robot navigation tasks. However, correct data fusion depends on precise…

This paper introduces a new architecture for human pose estimation using a multi- layer convolutional network architecture and a modified learning technique that learns low-level features and higher-level weak spatial models. Unconstrained…

This paper presents a Convolutional Neural Network (CNN) approach for counting and locating objects in high-density imagery. To the best of our knowledge, this is the first object counting and locating method based on a feature map…

Popular research areas like autonomous driving and augmented reality have renewed the interest in image-based camera localization. In this work, we address the task of predicting the 6D camera pose from a single RGB image in a given 3D…

The objective of this work is to estimate 3D human pose from a single RGB image. Extracting image representations which incorporate both spatial relation of body parts and their relative depth plays an essential role in accurate3D pose…

Camera localization is a fundamental requirement in robotics and computer vision. This paper introduces a pose-to-image translation framework to tackle the camera localization problem. We present PoseGANs, a conditional generative…

Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop closure in visual SLAM systems. Moreover, the difficulty of…

This paper introduces a novel approach to the task of data association within the context of pedestrian tracking, by introducing a two-stage learning scheme to match pairs of detections. First, a Siamese convolutional neural network (CNN)…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…