相关论文: Path-Invariant Map Networks

Most of the existing self-supervised feature learning methods for 3D data either learn 3D features from point cloud data or from multi-view images. By exploring the inherent multi-modality attributes of 3D objects, in this paper, we propose…

Supervised machine learning provides state-of-the-art solutions to a wide range of computer vision problems. However, the need for copious labelled training data limits the capabilities of these algorithms in scenarios where such input is…

A communication network can be modeled as a directed connected graph with edge weights that characterize performance metrics such as loss and delay. Network tomography aims to infer these edge weights from their pathwise versions measured…

Accurate feature matching and correspondence in endoscopic images play a crucial role in various clinical applications, including patient follow-up and rapid anomaly localization through panoramic image generation. However, developing…

Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…

In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…

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…

Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of…

Dynamic routing networks, aimed at finding the best routing paths in the networks, have achieved significant improvements to neural networks in terms of accuracy and efficiency. In this paper, we see dynamic routing networks in a fresh…

Convolutional neural network-based approaches have achieved remarkable progress in semantic segmentation. However, these approaches heavily rely on annotated data which are labor intensive. To cope with this limitation, automatically…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

Deep learning algorithms have become the golden standard for segmentation of medical imaging data. In most works, the variability and heterogeneity of real clinical data is acknowledged to still be a problem. One way to automatically…

In this paper, we explore the challenging 1-to-N map matching problem, which exploits a compact description of map data, to improve the scalability of map matching techniques used by various robot vision tasks. We propose a first method…

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…

Human adaptability relies crucially on learning and merging knowledge from both supervised and unsupervised tasks: the parents point out few important concepts, but then the children fill in the gaps on their own. This is particularly…

Equivariant and invariant machine learning models exploit symmetries and structural patterns in data to improve sample efficiency. While empirical studies suggest that data-driven methods such as regularization and data augmentation can…

Panoptic segmentation unifies semantic segmentation and instance segmentation which has been attracting increasing attention in recent years. However, most existing research was conducted under a supervised learning setup whereas…

The goal of traffic management is efficiently utilizing network resources via adapting of source sending rates and routes selection. Traditionally, this problem is formulated into a utilization maximization problem. The single-path routing…