相关论文: Visual Semantic Navigation using Scene Priors

The immense success of deep learning based methods in computer vision heavily relies on large scale training datasets. These richly annotated datasets help the network learn discriminative visual features. Collecting and annotating such…

In this paper, we propose a deep convolutional recurrent neural network that predicts action sequences for task and motion planning (TAMP) from an initial scene image. Typical TAMP problems are formalized by combining reasoning on a…

Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene…

Camera equipped drones are nowadays being used to explore large scenes and reconstruct detailed 3D maps. When free space in the scene is approximately known, an offline planner can generate optimal plans to efficiently explore the scene.…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

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,…

Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to navigate avoiding going through the personal spaces of the people surrounding them. Complying with social rules such as not getting in…

Convolutional networks are powerful visual models that yield hierarchies of features. We show that convolutional networks by themselves, trained end-to-end, pixels-to-pixels, improve on the previous best result in semantic segmentation. Our…

Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…

Capabilities of inference and prediction are significant components of visual systems. In this paper, we address an important and challenging task of them: visual path prediction. Its goal is to infer the future path for a visual object in…

Visual priming is known to affect the human visual system to allow detection of scene elements, even those that may have been near unnoticeable before, such as the presence of camouflaged animals. This process has been shown to be an effect…

Scene labeling is a challenging classification problem where each input image requires a pixel-level prediction map. Recently, deep-learning-based methods have shown their effectiveness on solving this problem. However, we argue that the…

Humans are expert explorers. Understanding the computational cognitive mechanisms that support this efficiency can advance the study of the human mind and enable more efficient exploration algorithms. We hypothesize that humans explore new…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

We explore the use of convolutional neural networks for the semantic classification of remote sensing scenes. Two recently proposed architectures, CaffeNet and GoogLeNet, are adopted, with three different learning modalities. Besides…

Context matters! Nevertheless, there has not been much research in exploiting contextual information in deep neural networks. For most part, the entire usage of contextual information has been limited to recurrent neural networks. Attention…

In this paper, we propose a new framework for zero-shot object navigation. Existing zero-shot object navigation methods prompt LLM with the text of spatially closed objects, which lacks enough scene context for in-depth reasoning. To better…

Many works in the recent literature introduce semantic mapping methods that use CNNs (Convolutional Neural Networks) to recognize semantic properties in images. The types of properties (eg.: room size, place category, and objects) and their…

The existing image feature extraction methods are primarily based on the content and structure information of images, and rarely consider the contextual semantic information. Regarding some types of images such as scenes and objects, the…

We investigated the human capacity to acquire multiple visuomotor mappings for de novo skills. Using a grid navigation paradigm, we tested whether contextual cues implemented as different "grid worlds", allow participants to learn two…