相关论文: SIGNet: Semantic Instance Aided Unsupervised 3D Ge…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…

Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…

We propose a method for self-supervised image representation learning under the guidance of 3D geometric consistency. Our intuition is that 3D geometric consistency priors such as smooth regions and surface discontinuities may imply…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Intrinsic image decomposition (IID) is an under-constrained problem. Therefore, traditional approaches use hand crafted priors to constrain the problem. However, these constraints are limited when coping with complex scenes. Deep…

Point cloud registration, a fundamental task in 3D vision, has achieved remarkable success with learning-based methods in outdoor environments. Unsupervised outdoor point cloud registration methods have recently emerged to circumvent the…

In this paper we propose USegScene, a framework for semantically guided unsupervised learning of depth, optical flow and ego-motion estimation for stereo camera images using convolutional neural networks. Our framework leverages semantic…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Estimating a depth map from a single RGB image has been investigated widely for localization, mapping, and 3-dimensional object detection. Recent studies on a single-view depth estimation are mostly based on deep Convolutional neural…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric model labels (e.g., camera poses, rigid transformations). Our…

Solving depth estimation with monocular cameras enables the possibility of widespread use of cameras as low-cost depth estimation sensors in applications such as autonomous driving and robotics. However, learning such a scalable depth…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

Despite significant progress of deep learning in recent years, state-of-the-art semantic matching methods still rely on legacy features such as SIFT or HoG. We argue that the strong invariance properties that are key to the success of…

Self-supervised learning holds promise in leveraging large numbers of unlabeled data. However, its success heavily relies on the highly-curated dataset, e.g., ImageNet, which still needs human cleaning. Directly learning representations…

We present SceneNAT, a single-stage masked non-autoregressive Transformer that synthesizes complete 3D indoor scenes from natural language instructions through only a few parallel decoding passes, offering improved performance and…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…