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Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
We aim to infer 3D shape and pose of object from a single image and propose a learning-based approach that can train from unstructured image collections, supervised by only segmentation outputs from off-the-shelf recognition systems (i.e.…
Supervised machine learning provides state-of-the-art solutions to a wide range of computer vision problems. However, the need for copious labelled training data limits the capabilities of these algorithms in scenarios where such input is…
Pose estimation of the human body and hands is a fundamental problem in computer vision, and learning-based solutions require a large amount of annotated data. In this work, we improve the efficiency of the data annotation process for 3D…
In this paper we address the task of visual place recognition (VPR), where the goal is to retrieve the correct GPS coordinates of a given query image against a huge geotagged gallery. While recent works have shown that building descriptors…
Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…
Recent progress of self-supervised visual representation learning has achieved remarkable success on many challenging computer vision benchmarks. However, whether these techniques can be used for domain adaptation has not been explored. In…
We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…
General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D…
The remarkable success of deep learning in various domains relies on the availability of large-scale annotated datasets. However, obtaining annotations is expensive and requires great effort, which is especially challenging for videos.…
In this work, we propose a novel straightforward method for medical volume and sequence segmentation with limited annotations. To avert laborious annotating, the recent success of self-supervised learning(SSL) motivates the pre-training on…
Reconstruction of 3D neural fields from posed images has emerged as a promising method for self-supervised representation learning. The key challenge preventing the deployment of these 3D scene learners on large-scale video data is their…
Self-supervised learning has attracted increasing attention as it learns data-driven representation from data without annotations. Vision transformer-based autoencoder (ViT-AE) by He et al. (2021) is a recent self-supervised learning…
An emerging problem in computer vision is the reconstruction of 3D shape and pose of an object from a single image. Hitherto, the problem has been addressed through the application of canonical deep learning methods to regress from the…
Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…
In many imaging modalities, objects of interest can occur in a variety of locations and poses (i.e. are subject to translations and rotations in 2d or 3d), but the location and pose of an object does not change its semantics (i.e. the…
We propose to learn a 3D pose estimator by distilling knowledge from Non-Rigid Structure from Motion (NRSfM). Our method uses solely 2D landmark annotations. No 3D data, multi-view/temporal footage, or object specific prior is required.…
Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…
Recent studies have shown remarkable advances in 3D human pose estimation from monocular images, with the help of large-scale in-door 3D datasets and sophisticated network architectures. However, the generalizability to different…
We present a self-supervised learning algorithm for 3D human pose estimation of a single person based on a multiple-view camera system and 2D body pose estimates for each view. To train our model, represented by a deep neural network, we…