相关论文: Self-Supervised 3D Keypoint Learning for Ego-motio…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

We consider the task of estimating 3D human pose and shape from videos. While existing frame-based approaches have made significant progress, these methods are independently applied to each image, thereby often leading to inconsistent…

Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts…

This paper describes recent developments in object specific pose and shape prediction from single images. The main contribution is a new approach to camera pose prediction by self-supervised learning of keypoints corresponding to locations…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

We propose a novel approach for unsupervised 3D animation of non-rigid deformable objects. Our method learns the 3D structure and dynamics of objects solely from single-view RGB videos, and can decompose them into semantically meaningful…

We are concerned with a challenging scenario in unpaired multiview video learning. In this case, the model aims to learn comprehensive multiview representations while the cross-view semantic information exhibits variations. We propose…

Knowledge about the locations of keypoints of an object in an image can assist in fine-grained classification and identification tasks, particularly for the case of objects that exhibit large variations in poses that greatly influence their…

The egocentric and exocentric viewpoints of a human activity look dramatically different, yet invariant representations to link them are essential for many potential applications in robotics and augmented reality. Prior work is limited to…

For ego-motion estimation, the feature representation of the scenes is crucial. Previous methods indicate that both the low-level and semantic feature-based methods can achieve promising results. Therefore, the incorporation of hierarchical…

Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in…

Video annotation is expensive and time consuming. Consequently, datasets for multi-person pose estimation and tracking are less diverse and have more sparse annotations compared to large scale image datasets for human pose estimation. This…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

Autonomous driving can benefit from motion behavior comprehension when interacting with diverse traffic participants in highly dynamic environments. Recently, there has been a growing interest in estimating class-agnostic motion directly…

We present an unsupervised approach for learning to estimate three dimensional (3D) facial structure from a single image while also predicting 3D viewpoint transformations that match a desired pose and facial geometry. We achieve this by…

Unsupervised depth learning takes the appearance difference between a target view and a view synthesized from its adjacent frame as supervisory signal. Since the supervisory signal only comes from images themselves, the resolution of…

Existing video self-supervised learning methods mainly rely on trimmed videos for model training. However, trimmed datasets are manually annotated from untrimmed videos. In this sense, these methods are not really self-supervised. In this…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…