相关论文: Learning Direct Optimization for Scene Understandi…

The design of deep learning methods for low light video enhancement remains a challenging problem owing to the difficulty in capturing low light and ground truth video pairs. This is particularly hard in the context of dynamic scenes or…

The widespread misuse of image generation technologies has raised security concerns, driving the development of AI-generated image detection methods. However, generalization has become a key challenge and open problem: existing approaches…

Enhancing images in low-light scenes is a challenging but widely concerned task in the computer vision. The mainstream learning-based methods mainly acquire the enhanced model by learning the data distribution from the specific scenes,…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Learning to Optimize (L2O), a technique that utilizes machine learning to learn an optimization algorithm automatically from data, has gained arising attention in recent years. A generic L2O approach parameterizes the iterative update rule…

Diffusion model-based low-light image enhancement methods rely heavily on paired training data, leading to limited extensive application. Meanwhile, existing unsupervised methods lack effective bridging capabilities for unknown degradation.…

This paper introduces LeTO, a method for learning constrained visuomotor policy with differentiable trajectory optimization. Our approach integrates a differentiable optimization layer into the neural network. By formulating the…

We propose BiCDO (Bias-Controlled Class Distribution Optimizer), an iterative, data-centric framework that identifies Pareto optimized class distributions for multi-class image classification. BiCDO enables performance prioritization for…

How to extract more and useful information for single image super resolution is an imperative and difficult problem. Learning-based method is a representative method for such task. However, the results are not so stable as there may exist…

Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…

Cross-modal systems trained on 2D visual inputs are presented with a dimensional shift when processing 3D scenes. An in-scene camera bridges the dimensionality gap but requires learning a control module. We introduce a new method that…

We address the problem of learning observation models end-to-end for estimation. Robots operating in partially observable environments must infer latent states from multiple sensory inputs using observation models that capture the joint…

In modern deep learning, the models are learned by applying gradient updates using an optimizer, which transforms the updates based on various statistics. Optimizers are often hand-designed and tuning their hyperparameters is a big part of…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

Learning to Optimize (L2O) is a subfield of machine learning (ML) in which ML models are trained to solve parametric optimization problems. The general goal is to learn a fast approximator of solutions to constrained optimization problems,…

This work addresses on the following problem: given a set of unsynchronized history observations of two scenes that are correlative on their dynamic changes, the purpose is to learn a cross-scene predictor, so that with the observation of…

Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…

Regularization techniques are crucial to improving the generalization performance and training efficiency of deep neural networks. Many deep learning algorithms rely on weight decay, dropout, batch/layer normalization to converge faster and…

Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…