相关论文: Learning Monocular Visual Odometry through Geometr…

Object-centric learning (OCL) aims to learn structured scene representations that support compositional generalization and robustness to out-of-distribution (OOD) data. However, OCL models are often not evaluated regarding these goals.…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

We present GLNet, a self-supervised framework for learning depth, optical flow, camera pose and intrinsic parameters from monocular video - addressing the difficulty of acquiring realistic ground-truth for such tasks. We propose three…

In this work we present WGANVO, a Deep Learning based monocular Visual Odometry method. In particular, a neural network is trained to regress a pose estimate from an image pair. The training is performed using a semi-supervised approach.…

Video object segmentation can be understood as a sequence-to-sequence task that can benefit from the curriculum learning strategies for better and faster training of deep neural networks. This work explores different schedule sampling and…

Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…

This paper studies the problem of semi-supervised video object segmentation(VOS). Multiple works have shown that memory-based approaches can be effective for video object segmentation. They are mostly based on pixel-level matching, both…

With the rise of deep learning, there is a fundamental change in visual SLAM algorithms toward developing different modules trained as end-to-end pipelines. However, regardless of the implementation domain, visual SLAM's performance is…

Monocular visual odometry (VO) and simultaneous localization and mapping (SLAM) have seen tremendous improvements in accuracy, robustness and efficiency, and have gained increasing popularity over recent years. Nevertheless, not so many…

This paper presents an end-to-end multi-modal learning approach for monocular Visual-Inertial Odometry (VIO), which is specifically designed to exploit sensor complementarity in the light of sensor degradation scenarios. The proposed…

Multi-view learning is a learning problem that utilizes the various representations of an object to mine valuable knowledge and improve the performance of learning algorithm, and one of the significant directions of multi-view learning is…

Self-supervised monocular depth estimation, aiming to learn scene depths from single images in a self-supervised manner, has received much attention recently. In spite of recent efforts in this field, how to learn accurate scene depths and…

The size and the computational load of fine-tuning large-scale pre-trained neural network are becoming two major obstacles in adopting machine learning in many applications. Continual learning (CL) can serve as a remedy through enabling…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

Recent state-of-the-art semi-supervised Video Object Segmentation (VOS) methods have shown significant improvements in target object segmentation accuracy when information from preceding frames is used in segmenting the current frame. In…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…

Curriculum learning (CL) is a training strategy that trains a machine learning model from easier data to harder data, which imitates the meaningful learning order in human curricula. As an easy-to-use plug-in, the CL strategy has…

We present MoGe, a powerful model for recovering 3D geometry from monocular open-domain images. Given a single image, our model directly predicts a 3D point map of the captured scene with an affine-invariant representation, which is…

For specialized domains, there is often not a wealth of data with which to train large machine learning models. In such limited data / compute settings, various methods exist aiming to $\textit{do more with less}$, such as finetuning from a…