相关论文: Improving Image-Based Localization with Deep Learn…

Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…

Some recent visual-based relocalization algorithms rely on deep learning methods to perform camera pose regression from image data. This paper focuses on the loss functions that embed the error between two poses to perform deep learning…

Over the last two decades, deep learning has transformed the field of computer vision. Deep convolutional networks were successfully applied to learn different vision tasks such as image classification, image segmentation, object detection…

Recent advances in deep learning have pushed the performances of visual saliency models way further than it has ever been. Numerous models in the literature present new ways to design neural networks, to arrange gaze pattern data, or to…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

Neural networks are becoming central in several areas of computer vision and image processing and different architectures have been proposed to solve specific problems. The impact of the loss layer of neural networks, however, has not…

Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

In this work, we propose a method for object recognition and pose estimation from depth images using convolutional neural networks. Previous methods addressing this problem rely on manifold learning to learn low dimensional viewpoint…

Recent advances in generalized image understanding have seen a surge in the use of deep convolutional neural networks (CNN) across a broad range of image-based detection, classification and prediction tasks. Whilst the reported performance…

Nowadays, deep-learning image coding solutions have shown similar or better compression efficiency than conventional solutions based on hand-crafted transforms and spatial prediction techniques. These deep-learning codecs require a large…

As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…

Deducing a 3D human pose from a single 2D image is inherently challenging because multiple 3D poses can correspond to the same 2D representation. 3D data can resolve this pose ambiguity, but it is expensive to record and requires an…

Deep learning has been applied to camera relocalization, in particular, PoseNet and its extended work are the convolutional neural networks which regress the camera pose from a single image. However there are many problems, one of them is…

Training networks to perform metric relocalization traditionally requires accurate image correspondences. In practice, these are obtained by restricting domain coverage, employing additional sensors, or capturing large multi-view datasets.…

The loss function is arguably among the most important hyperparameters for a neural network. Many loss functions have been designed to date, making a correct choice nontrivial. However, elaborate justifications regarding the choice of the…

In this paper, we introduce two methods of improving real-time object grasping performance from monocular colour images in an end-to-end CNN architecture. The first is the addition of an auxiliary task during model training (multi-task…

Pose estimation, i.e. predicting a 3D rigid transformation with respect to a fixed co-ordinate frame in, SE(3), is an omnipresent problem in medical image analysis with applications such as: image rigid registration, anatomical standard…

We present a new loss function, namely Wing loss, for robust facial landmark localisation with Convolutional Neural Networks (CNNs). We first compare and analyse different loss functions including L2, L1 and smooth L1. The analysis of these…

Supervised training of neural networks for classification is typically performed with a global loss function. The loss function provides a gradient for the output layer, and this gradient is back-propagated to hidden layers to dictate an…

In the last years, deep learning has dramatically improved the performances in a variety of medical image analysis applications. Among different types of deep learning models, convolutional neural networks have been among the most…