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

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

This paper presents a novel approach to learn and detect distinctive regions on 3D shapes. Unlike previous works, which require labeled data, our method is unsupervised. We conduct the analysis on point sets sampled from 3D shapes, then…

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…

In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such environments therefore requires robots to update their…

Understanding the 3D world without supervision is currently a major challenge in computer vision as the annotations required to supervise deep networks for tasks in this domain are expensive to obtain on a large scale. In this paper, we…

Improving the quality of underwater images is essential for advancing marine research and technology. This work introduces a sparsity-driven interpretable neural network (SINET) for the underwater image enhancement (UIE) task. Unlike pure…

Concealed object detection (COD) in cluttered scenes is significant for various image processing applications. However, due to that concealed objects are always similar to their background, it is extremely hard to distinguish them. Here,…

We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as…

Learning without supervision how to predict 3D scene flows from point clouds is essential to many perception systems. We propose a novel learning framework for this task which improves the necessary regularization. Relying on the assumption…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

Reverse engineering in the realm of Computer-Aided Design (CAD) has been a longstanding aspiration, though not yet entirely realized. Its primary aim is to uncover the CAD process behind a physical object given its 3D scan. We propose…

The lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Data-driven approaches for edge detection have proven effective and achieve top results on modern benchmarks. However, all current data-driven edge detectors require manual supervision for training in the form of hand-labeled region…

Deep neural networks (DNNs) provide high image classification accuracy, but experience significant performance degradation when perturbation from various sources are present in the input. The lack of resilience to input perturbations makes…

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

In 3D scene understanding, deep learning models rely on large models and extensive training to capture basic geometric structures that are present in the 3D data. However, existing methods lack explicit mechanisms to incorporate geometric…