相关论文: VLocNet++: Deep Multitask Learning for Semantic Vi…

The task of building footprint segmentation has been well-studied in the context of remote sensing (RS) as it provides valuable information in many aspects, however, difficulties brought by the nature of RS images such as variations in the…

Localization is a critically essential and crucial enabler of autonomous robots. While deep learning has made significant strides in many computer vision tasks, it is still yet to make a sizeable impact on improving capabilities of metric…

Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…

Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

We present a deep learning-based multi-task approach for head pose estimation in images. We contribute with a network architecture and training strategy that harness the strong dependencies among face pose, alignment and visibility, to…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

We present an algorithm for simultaneous face detection, landmarks localization, pose estimation and gender recognition using deep convolutional neural networks (CNN). The proposed method called, HyperFace, fuses the intermediate layers of…

Numerous deep learning applications benefit from multi-task learning with multiple regression and classification objectives. In this paper we make the observation that the performance of such systems is strongly dependent on the relative…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

A significant barrier to the long-term deployment of autonomous socially assistive robots is their inability to both perceive and assist with multiple activities of daily living (ADLs). In this paper, we present the first multimodal deep…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor environments. However, this approach is prone to mistakes if a…

Driven by Convolutional Neural Networks, object detection and semantic segmentation have gained significant improvements. However, existing methods on the basis of a full top-down module have limited robustness in handling those two tasks…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…

Despite the recent progress in deep learning, most approaches still go for a silo-like solution, focusing on learning each task in isolation: training a separate neural network for each individual task. Many real-world problems, however,…