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This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Unsupervised learning poses one of the most difficult challenges in computer vision today. The task has an immense practical value with many applications in artificial intelligence and emerging technologies, as large quantities of unlabeled…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

Pseudo-label based self training approaches are a popular method for source-free unsupervised domain adaptation. However, their efficacy depends on the quality of the labels generated by the source trained model. These labels may be…

Deep convolutional neural networks have shown outstanding performance in medical image segmentation tasks. The usual problem when training supervised deep learning methods is the lack of labeled data which is time-consuming and costly to…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

Recent advancements in deep-learning methods for object detection in point-cloud data have enabled numerous roadside applications, fostering improvements in transportation safety and management. However, the intricate nature of point-cloud…

Semi-supervised object detection (SSOD) aims to boost detection performance by leveraging extra unlabeled data. The teacher-student framework has been shown to be promising for SSOD, in which a teacher network generates pseudo-labels for…

3D object trackers usually require training on large amounts of annotated data that is expensive and time-consuming to collect. Instead, we propose leveraging vast unlabeled datasets by self-supervised metric learning of 3D object trackers,…

Weakly-supervised object detection attempts to limit the amount of supervision by dispensing the need for bounding boxes, but still assumes image-level labels on the entire training set. In this work, we study the problem of training an…

The success of deep learning in computer vision is rooted in the ability of deep networks to scale up model complexity as demanded by challenging visual tasks. As complexity is increased, so is the need for large amounts of labeled data to…

Training deep neural networks to estimate the viewpoint of objects requires large labeled training datasets. However, manually labeling viewpoints is notoriously hard, error-prone, and time-consuming. On the other hand, it is relatively…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

This paper introduces self-taught object localization, a novel approach that leverages deep convolutional networks trained for whole-image recognition to localize objects in images without additional human supervision, i.e., without using…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

This paper presents a new self-supervised system for learning to detect novel and previously unseen categories of objects in images. The proposed system receives as input several unlabeled videos of scenes containing various objects. The…

Deep convolutional neural networks (CNNs) have demonstrated remarkable success in computer vision by supervisedly learning strong visual feature representations. However, training CNNs relies heavily on the availability of exhaustive…

Unsupervised Domain Adaptive Object Detection (UDA-OD) uses unlabelled data to improve the reliability of robotic vision systems in open-world environments. Previous approaches to UDA-OD based on self-training have been effective in…