相关论文: Movable-Object-Aware Visual SLAM via Weakly Superv…

Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…

Weakly supervised segmentation methods using bounding box annotations focus on obtaining a pixel-level mask from each box containing an object. Existing methods typically depend on a class-agnostic mask generator, which operates on the…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

Despite the remarkable progress, weakly supervised segmentation approaches are still inferior to their fully supervised counterparts. We obverse the performance gap mainly comes from their limitation on learning to produce high-quality…

We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…

To minimize the annotation costs associated with the training of semantic segmentation models, researchers have extensively investigated weakly-supervised segmentation approaches. In the current weakly-supervised segmentation methods, the…

Weakly supervised semantic segmentation (WSSS) aims to produce pixel-wise class predictions with only image-level labels for training. To this end, previous methods adopt the common pipeline: they generate pseudo masks from class activation…

Weakly supervised semantic segmentation (WSSS) aims to bypass the need for laborious pixel-level annotation by using only image-level annotation. Most existing methods rely on Class Activation Maps (CAM) to derive pixel-level pseudo-labels…

Current state of the art methods for generating semantic segmentation rely heavily on a large set of images that have each pixel labeled with a class of interest label or background. Coming up with such labels, especially in domains that…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

As a fundamental task for intelligent robots, visual SLAM has made great progress over the past decades. However, robust SLAM under highly weak-textured environments still remains very challenging. In this paper, we propose a novel visual…

Given a 3D object, kinematic motion prediction aims to identify the mobile parts as well as the corresponding motion parameters. Due to the large variations in both topological structure and geometric details of 3D objects, this remains a…

Semantic segmentation requires dense pixel-level annotations, which are costly and time-consuming to acquire. To address this, we present SeSAM, a framework that uses a foundational segmentation model, i.e. Segment Anything Model (SAM),…

Visual Simultaneous Localization and Mapping (SLAM) systems are an essential component in agricultural robotics that enable autonomous navigation and the construction of accurate 3D maps of agricultural fields. However, lack of texture,…

Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…

Semantic segmentation aims to classify every pixel of an input image. Considering the difficulty of acquiring dense labels, researchers have recently been resorting to weak labels to alleviate the annotation burden of segmentation. However,…

Weakly supervised semantic segmentation is a challenging task as it only takes image-level information as supervision for training but produces pixel-level predictions for testing. To address such a challenging task, most recent…

Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…

In the proposed study, we describe an approach to improving the computational efficiency and robustness of visual SLAM algorithms on mobile robots with multiple cameras and limited computational power by implementing an intermediate layer…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…