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

Vision-based path following allows robots to autonomously repeat manually taught paths. Stereo Visual Teach and Repeat (VT\&R) accomplishes accurate and robust long-range path following in unstructured outdoor environments across changing…

One of the biggest challenges for deep learning algorithms in medical image analysis is the indiscriminate mixing of image properties, e.g. artifacts and anatomy. These entangled image properties lead to a semantically redundant feature…

Multimodal remote sensing semantic segmentation enhances scene interpretation by exploiting complementary physical cues from heterogeneous data. Although pretrained Vision Foundation Models (VFMs) provide strong general-purpose…

Multi-task learning (MTL) allows deep neural networks to learn from related tasks by sharing parameters with other networks. In practice, however, MTL involves searching an enormous space of possible parameter sharing architectures to find…

Machine learning techniques, namely convolutional neural networks (CNN) and regression forests, have recently shown great promise in performing 6-DoF localization of monocular images. However, in most cases image-sequences, rather only…

Multi-task scene understanding aims to design models that can simultaneously predict several scene understanding tasks with one versatile model. Previous studies typically process multi-task features in a more local way, and thus cannot…

We solve the problem of 6-DoF localisation and 3D dense reconstruction in spatial environments as approximate Bayesian inference in a deep state-space model. Our approach leverages both learning and domain knowledge from multiple-view…

Amodal recognition is the ability of the system to detect occluded objects. Most SOTA Visual Recognition systems lack the ability to perform amodal recognition. Few studies have achieved amodal recognition through passive prediction or…

Multi-agents rely on accurate poses to share and align observations, enabling a collaborative perception of the environment. However, traditional GNSS-based localization often fails in GNSS-denied environments, making consistent feature…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

A new data-driven method for operator learning of stochastic differential equations(SDE) is proposed in this paper. The central goal is to solve forward and inverse stochastic problems more effectively using limited data. Deep operator…

Existing weakly supervised semantic segmentation (WSSS) methods usually utilize the results of pre-trained saliency detection (SD) models without explicitly modeling the connections between the two tasks, which is not the most efficient…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

As technology advances in autonomous mobile robots, mobile service robots have been actively used more and more for various purposes. Especially, serving robots have been not surprising products anymore since the COVID-19 pandemic. One of…

Deep learning (DL) has achieved great success in many applications, but it has been less well analyzed from the theoretical perspective. The unexplainable success of black-box DL models has raised questions among scientists and promoted the…

One of the main challenges in the Simultaneous Localization and Mapping (SLAM) loop closure problem is the recognition of previously visited places. In this work, we tackle the two main problems of real-time SLAM systems: 1) loop closure…

We propose a Visual Teach and Repeat (VTR) algorithm using semantic landmarks extracted from environmental objects for ground robots with fixed mount monocular cameras. The proposed algorithm is robust to changes in the starting pose of the…