相关论文: Unbiasing Semantic Segmentation For Robot Percepti…

In medical image segmentation tasks, the scarcity of labeled training data poses a significant challenge when training deep neural networks. When using U-Net-style architectures, it is common practice to address this problem by pretraining…

Models based on deep convolutional neural networks (CNN) have significantly improved the performance of semantic segmentation. However, learning these models requires a large amount of training images with pixel-level labels, which are very…

Transfer learning is widely used for training machine learning models. Here, we study the role of transfer learning for training fully convolutional networks (FCNs) for medical image segmentation. Our experiments show that although transfer…

Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The…

Semantic segmentation is a powerful method to facilitate visual scene understanding. Each pixel is assigned a label according to a pre-defined list of object classes and semantic entities. This becomes very useful as a means to summarize…

Semantic segmentation necessitates approaches that learn high-level characteristics while dealing with enormous amounts of data. Convolutional neural networks (CNNs) can learn unique and adaptive features to achieve this aim. However, due…

Accurate robot segmentation is a fundamental capability for robotic perception. It enables precise visual servoing for VLA systems, scalable robot-centric data augmentation, accurate real-to-sim transfer, and reliable safety monitoring in…

Since annotating pixel-level labels for semantic segmentation is laborious, leveraging synthetic data is an attractive solution. However, due to the domain gap between synthetic domain and real domain, it is challenging for a model trained…

The ability to endow maps of indoor scenes with semantic information is an integral part of robotic agents which perform different tasks such as target driven navigation, object search or object rearrangement. The state-of-the-art methods…

Semantic segmentation is a critical task in computer vision aiming to identify and classify individual pixels in an image, with numerous applications in for example autonomous driving and medical image analysis. However, semantic…

In the process of intelligently segmenting foods in images using deep neural networks for diet management, data collection and labeling for network training are very important but labor-intensive tasks. In order to solve the difficulties of…

With recent advances in speech synthesis, synthetic data is becoming a viable alternative to real data for training speech recognition models. However, machine learning with synthetic data is not trivial due to the gap between the synthetic…

Real-time semantic segmentation plays a significant role in industry applications, such as autonomous driving, robotics and so on. It is a challenging task as both efficiency and performance need to be considered simultaneously. To address…

Recently, learning-based image synthesis has enabled to generate high-resolution images, either applying popular adversarial training or a powerful perceptual loss. However, it remains challenging to successfully leverage synthetic data for…

Real-time tool segmentation from endoscopic videos is an essential part of many computer-assisted robotic surgical systems and of critical importance in robotic surgical data science. We propose two novel deep learning architectures for…

Compared to supervised deep learning, self-supervision provides remote sensing a tool to reduce the amount of exact, human-crafted geospatial annotations. While image-level information for unsupervised pretraining efficiently works for…

Recent real-time semantic segmentation methods usually adopt an additional semantic branch to pursue rich long-range context. However, the additional branch incurs undesirable computational overhead and slows inference speed. To eliminate…

In this paper we address three different aspects of semantic segmentation from remote sensor data using deep neural networks. Firstly, we focus on the semantic segmentation of buildings from remote sensor data and propose ICT-Net. The…

The need for large annotated image datasets for training Convolutional Neural Networks (CNNs) has been a significant impediment for their adoption in computer vision applications. We show that with transfer learning an effective object…

Deep CNNs for semantic segmentation have high memory and run time requirements. Various approaches have been proposed to make CNNs efficient like grouped, shuffled, depth-wise separable convolutions. We study the effectiveness of these…