相关论文: AutoRemover: Automatic Object Removal for Autonomo…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…

Removing clutter from scenes is essential in many applications, ranging from privacy-concerned content filtering to data augmentation. In this work, we present an automatic system that removes clutter from 3D scenes and inpaints with…

Vision-centric autonomous driving systems require diverse data for robust training and evaluation, which can be augmented by manipulating object positions and appearances within existing scene captures. While recent advancements in…

Deep neural networks trained to inpaint partially occluded images show a deep understanding of image composition and have even been shown to remove objects from images convincingly. In this work, we investigate how this implicit knowledge…

Moving object detection is a critical task for autonomous vehicles. As dynamic objects represent higher collision risk than static ones, our own ego-trajectories have to be planned attending to the future states of the moving elements of…

Image composition refers to inserting a foreground object into a background image to obtain a composite image. In this work, we focus on generating plausible shadow for the inserted foreground object to make the composite image more…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

Single-View depth estimation using the CNNs trained from unlabelled videos has shown significant promise. However, excellent results have mostly been obtained in street-scene driving scenarios, and such methods often fail in other settings,…

Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…

Reliable detection of various objects and road users in the surrounding environment is crucial for the safe operation of automated driving systems (ADS). Despite recent progresses in developing highly accurate object detectors based on Deep…

We present a system for learning motion of independently moving objects from stereo videos. The only human annotation used in our system are 2D object bounding boxes which introduce the notion of objects to our system. Unlike prior learning…

Object detection in autonomous cars is commonly based on camera images and Lidar inputs, which are often used to train prediction models such as deep artificial neural networks for decision making for object recognition, adjusting speed,…

Depth imaging is a crucial area in Autonomous Driving Systems (ADS), as it plays a key role in detecting and measuring objects in the vehicle's surroundings. However, a significant challenge in this domain arises from missing information in…

Segmenting foreground object from a video is a challenging task because of the large deformations of the objects, occlusions, and background clutter. In this paper, we propose a frame-by-frame but computationally efficient approach for…

Semantic segmentation approaches are typically trained on large-scale data with a closed finite set of known classes without considering unknown objects. In certain safety-critical robotics applications, especially autonomous driving, it is…

Ego-centric driving videos available online provide an abundant source of visual data for autonomous driving, yet their lack of annotations makes it difficult to learn representations that capture both semantic structure and 3D geometry.…

Shadow-affected images often exhibit pronounced spatial discrepancies in color and illumination, consequently degrading various vision applications including object detection and segmentation systems. To effectively eliminate shadows in…

Object removal requires eliminating not only the target object but also its associated visual effects such as shadows and reflections. However, diffusion-based inpainting and removal methods often introduce artifacts, hallucinate contents,…