相关论文: Camera Exposure Control for Robust Robot Vision wi…

In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…

We present a novel Fourier camera, an in-hardware optical compression of high-speed frames employing pixel-level sign-coded exposure where pixel intensities temporally modulated as positive and negative exposure are combined to yield…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

Real-world image noise removal is a long-standing yet very challenging task in computer vision. The success of deep neural network in denoising stimulates the research of noise generation, aiming at synthesizing more clean-noisy image pairs…

This paper presents a novel version of the hypergraph neural network method. This method is utilized to solve the noisy label learning problem. First, we apply the PCA dimensional reduction technique to the feature matrices of the image…

Lacking rich and realistic data, learned single image denoising algorithms generalize poorly to real raw images that do not resemble the data used for training. Although the problem can be alleviated by the heteroscedastic Gaussian model…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

This work proposes an accelerated first-order algorithm we call the Robust Momentum Method for optimizing smooth strongly convex functions. The algorithm has a single scalar parameter that can be tuned to trade off robustness to gradient…

Point sets matching method is very important in computer vision, feature extraction, fingerprint matching, motion estimation and so on. This paper proposes a robust point sets matching method. We present an iterative algorithm that is…

Noisy labels are a pervasive challenge in medical image classification, where annotation errors arise from inter-observer variability and diagnostic ambiguity. Although several noise-robust learning methods have been proposed, their…

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

Pose estimation is an important technique for nonverbal human-robot interaction. That said, the presence of a camera in a person's space raises privacy concerns and could lead to distrust of the robot. In this paper, we propose a…

Recent work has shown that learned image compression strategies can outperform standard hand-crafted compression algorithms that have been developed over decades of intensive research on the rate-distortion trade-off. With growing…

Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…

This paper presents a video encoding method in which noise is encoded using a novel parametric model representing spectral envelope and spatial distribution of energy. The proposed method has been experimentally assessed using video test…

Robust audio-visual speech recognition (AVSR) in noisy environments remains challenging, as existing systems struggle to estimate audio reliability and dynamically adjust modality reliance. We propose router-gated cross-modal feature…

One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition quality (e.g., consistent target detection) in all the…

This paper presents a robust regression approach for image binarization under significant background variations and observation noises. The work is motivated by the need of identifying foreground regions in noisy microscopic image or…