相关论文: Reinforcement Learning for Semantic Segmentation i…

In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification…

Although well-known large-scale datasets, such as ImageNet, have driven image understanding forward, most of these datasets require extensive manual annotation and are thus not easily scalable. This limits the advancement of image…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Partially-supervised learning can be challenging for segmentation due to the lack of supervision for unlabeled structures, and the methods directly applying fully-supervised learning could lead to incompatibility, meaning ground truth is…

Semantic scene understanding is essential for mobile agents acting in various environments. Although semantic segmentation already provides a lot of information, details about individual objects as well as the general scene are missing but…

Scene parsing, or semantic segmentation, consists in labeling each pixel in an image with the category of the object it belongs to. It is a challenging task that involves the simultaneous detection, segmentation and recognition of all the…

In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes…

Deep Reinforcement Learning (DRL) is a powerful framework for solving complex sequential decision-making problems, particularly in robotic control. However, its practical deployment is often hindered by the substantial amount of experience…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Reinforcement learning is an appropriate and successful method to robustly perform low-level robot control under noisy conditions. Symbolic action planning is useful to resolve causal dependencies and to break a causally complex problem…

Generalization and adaptation of learned skills to novel situations is a core requirement for intelligent autonomous robots. Although contextual reinforcement learning provides a principled framework for learning and generalization of…

While most existing segmentation methods usually combined the powerful feature extraction capabilities of CNNs with Conditional Random Fields (CRFs) post-processing, the result always limited by the fault of CRFs . Due to the notoriously…

One-shot semantic image segmentation aims to segment the object regions for the novel class with only one annotated image. Recent works adopt the episodic training strategy to mimic the expected situation at testing time. However, these…

State-of-the-art semantic image segmentation methods are mostly based on training deep convolutional neural networks (CNNs). In this work, we proffer to improve semantic segmentation with the use of contextual information. In particular, we…

Multi-label Recognition (MLR) involves assigning multiple labels to each data instance in an image, offering advantages over single-label classification in complex scenarios. However, it faces the challenge of annotating all relevant…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

The field of continual deep learning is an emerging field and a lot of progress has been made. However, concurrently most of the approaches are only tested on the task of image classification, which is not relevant in the field of…