相关论文: Semantic Part Detection via Matching: Learning to …

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

This paper addresses the problem of semantic part parsing (segmentation) of cars, i.e.assigning every pixel within the car to one of the parts (e.g.body, window, lights, license plates and wheels). We formulate this as a landmark…

In this paper we address the task of visual place recognition (VPR), where the goal is to retrieve the correct GPS coordinates of a given query image against a huge geotagged gallery. While recent works have shown that building descriptors…

Interpreting camera data is key for autonomously acting systems, such as autonomous vehicles. Vision systems that operate in real-world environments must be able to understand their surroundings and need the ability to deal with novel…

Part segmentations provide a rich and detailed part-level description of objects. However, their annotation requires an enormous amount of work, which makes it difficult to apply standard deep learning methods. In this paper, we propose the…

Deep learning has achieved remarkable results in 3D shape analysis by learning global shape features from the pixel-level over multiple views. Previous methods, however, compute low-level features for entire views without considering…

Existing weakly-supervised semantic segmentation methods using image-level annotations typically rely on initial responses to locate object regions. However, such response maps generated by the classification network usually focus on…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Visual localization is a fundamental task for various applications including autonomous driving and robotics. Prior methods focus on extracting large amounts of often redundant locally reliable features, resulting in limited efficiency and…

Computer vision tasks are traditionally defined and evaluated using semantic categories. However, it is known to the field that semantic classes do not necessarily correspond to a unique visual class (e.g. inside and outside of a car).…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Semantic segmentation is a critical step in automated image interpretation and analysis where pixels are classified into one or more predefined semantically meaningful classes. Deep learning approaches for semantic segmentation rely on…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Object detection has achieved promising success, but requires large-scale fully-annotated data, which is time-consuming and labor-extensive. Therefore, we consider object detection with mixed supervision, which learns novel object…

Visual semantic segmentation aims at separating a visual sample into diverse blocks with specific semantic attributes and identifying the category for each block, and it plays a crucial role in environmental perception. Conventional…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

We address semantic 3D part segmentation: decomposing objects into parts with meaningful names. While datasets exist with part annotations, their definitions are inconsistent across datasets, limiting robust training. Previous methods…