相关论文: Explainable Semantic Mapping for First Responders

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

The objective of this work is to explore how to effectively and efficiently adapt pre-trained visual foundation models to various downstream tasks of semantic segmentation. Previous methods usually fine-tuned the entire networks for each…

Historical maps offer valuable insights into changes on Earth's surface but pose challenges for modern segmentation models due to inconsistent visual styles and symbols. While deep learning models such as UNet and pre-trained foundation…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…

We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

The relevance between a query and a document in search can be represented as matching degree between the two objects. Latent space models have been proven to be effective for the task, which are often trained with click-through data. One…

Deep learning continues to push state-of-the-art performance for the semantic segmentation of color (i.e., RGB) imagery; however, the lack of annotated data for many remote sensing sensors (i.e. hyperspectral imagery (HSI)) prevents…

We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios where ground vehicles must reach demand locations as soon…

Until open-world foundation models match the performance of specialized approaches, deep learning systems remain dependent on task- and sensor-specific data availability. To bridge the gap between available datasets and deployment domains,…

With the rapid development of Remote Sensing acquisition techniques, there is a need to scale and improve processing tools to cope with the observed increase of both data volume and richness. Among popular techniques in remote sensing, Deep…

Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost…

Semantic maps are fundamental for robotics tasks such as navigation and manipulation. They also enable yield prediction and phenotyping in agricultural settings. In this paper, we introduce an efficient and scalable approach for active…

The human visual system excels at detecting local blur of visual images, but the underlying mechanism is not well understood. Traditional views of blur such as reduction in energy at high frequencies and loss of phase coherence at localized…

We propose a method for high-performance semantic image segmentation (or semantic pixel labelling) based on very deep residual networks, which achieves the state-of-the-art performance. A few design factors are carefully considered to this…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Deep learning based localization and mapping approaches have recently emerged as a new research direction and receive significant attentions from both industry and academia. Instead of creating hand-designed algorithms based on physical…

Deep learning usually achieves the best results with complete supervision. In the case of semantic segmentation, this means that large amounts of pixelwise annotations are required to learn accurate models. In this paper, we show that we…