相关论文: Unbiasing Semantic Segmentation For Robot Percepti…

Training a deep network to perform semantic segmentation requires large amounts of labeled data. To alleviate the manual effort of annotating real images, researchers have investigated the use of synthetic data, which can be labeled…

Performance achievable by modern deep learning approaches are directly related to the amount of data used at training time. Unfortunately, the annotation process is notoriously tedious and expensive, especially for pixel-wise tasks like…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

Synthetic datasets are widely used for training urban scene recognition models, but even highly realistic renderings show a noticeable gap to real imagery. This gap is particularly pronounced when adapting to a specific target domain, such…

Training a deep neural model for semantic segmentation requires collecting a large amount of pixel-level labeled data. To alleviate the data scarcity problem presented in the real world, one could utilize synthetic data whose label is easy…

Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the…

As one of the fundamental tasks in computer vision, semantic segmentation plays an important role in real world applications. Although numerous deep learning models have made notable progress on several mainstream datasets with the rapid…

The advance of generative models for images has inspired various training techniques for image recognition utilizing synthetic images. In semantic segmentation, one promising approach is extracting pseudo-masks from attention maps in…

We present our approach for robotic perception in cluttered scenes that led to winning the recent Amazon Robotics Challenge (ARC) 2017. Next to small objects with shiny and transparent surfaces, the biggest challenge of the 2017 competition…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

The usefulness of deep learning models in robotics is largely dependent on the availability of training data. Manual annotation of training data is often infeasible. Synthetic data is a viable alternative, but suffers from domain gap. We…

Most machine vision tasks (e.g., semantic segmentation) are based on images encoded and decoded by image compression algorithms (e.g., JPEG). However, these decoded images in the pixel domain introduce distortion, and they are optimized for…

Semantic segmentation often requires a large set of images with pixel-level annotations. In the view of extremely expensive expert labeling, recent research has shown that the models trained on photo-realistic synthetic data (e.g., computer…

Semantic segmentation requires large amounts of pixel-wise annotations to learn accurate models. In this paper, we present a video prediction-based methodology to scale up training sets by synthesizing new training samples in order to…

Dataset creation is typically one of the first steps when applying Artificial Intelligence methods to a new task; and the real world performance of models hinges on the quality and quantity of data available. Producing an image dataset for…

During the last half decade, convolutional neural networks (CNNs) have triumphed over semantic segmentation, which is one of the core tasks in many applications such as autonomous driving and augmented reality. However, to train CNNs…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

Deep Neural Networks (DNNs) based semantic segmentation of the robotic instruments and tissues can enhance the precision of surgical activities in robot-assisted surgery. However, in biological learning, DNNs cannot learn incremental tasks…