相关论文: Neural Outlier Rejection for Self-Supervised Keypo…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

We present a method to automatically learn to segment dynamic objects using SLAM outliers. It requires only one monocular sequence per dynamic object for training and consists in localizing dynamic objects using SLAM outliers, creating…

Outlier detection is an essential capability in safety-critical applications of supervised visual recognition. Most of the existing methods deliver best results by encouraging standard closed-set models to produce low-confidence predictions…

Object detection is a pivotal task in computer vision that has received significant attention in previous years. Nonetheless, the capability of a detector to localise objects out of the training distribution remains unexplored. Whilst…

This paper proposes a novel paradigm for the unsupervised learning of object landmark detectors. Contrary to existing methods that build on auxiliary tasks such as image generation or equivariance, we propose a self-training approach where,…

Keypoint detection and matching is a fundamental task in many computer vision problems, from shape reconstruction, to structure from motion, to AR/VR applications and robotics. It is a well-studied problem with remarkable successes such as…

Semi-supervised learning (SSL) aims to leverage massive unlabeled data when labels are expensive to obtain. Unfortunately, in many real-world applications, the collected unlabeled data will inevitably contain unseen-class outliers not…

Outlier explanation is the task of identifying a set of features that distinguish a sample from normal data, which is important for downstream (human) decision-making. Existing methods are based on beam search in the space of feature…

Deep learning based salient object detection has recently achieved great success with its performance greatly outperforms any other unsupervised methods. However, annotating per-pixel saliency masks is a tedious and inefficient procedure.…

The problem of estimating subjective visual properties from image and video has attracted increasing interest. A subjective visual property is useful either on its own (e.g. image and video interestingness) or as an intermediate…

Understanding point clouds is of great importance. Many previous methods focus on detecting salient keypoints to identity structures of point clouds. However, existing methods neglect the semantics of points selected, leading to poor…

Keypoint detection is the foundation of many computer vision tasks, including image registration, structure-from-motion, 3D reconstruction, visual odometry, and SLAM. Traditional detectors (SIFT, ORB, BRISK, FAST, etc.) and learning-based…

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…

The estimation of viewpoints and keypoints effectively enhance object detection methods by extracting valuable traits of the object instances. While the output of both processes differ, i.e., angles vs. list of characteristic points, they…

Unsupervised outlier detection, which predicts if a test sample is an outlier or not using only the information from unlabelled inlier data, is an important but challenging task. Recently, methods based on the two-stage framework achieve…

We attack the problem of learning concepts automatically from noisy web image search results. Going beyond low level attributes, such as colour and texture, we explore weakly-labelled datasets for the learning of higher level concepts, such…

Outlier detection is an important data mining task with numerous practical applications such as intrusion detection, credit card fraud detection, and video surveillance. However, given a specific complicated task with big data, the process…

Detecting robust keypoints from an image is an integral part of many computer vision problems, and the characteristic orientation and scale of keypoints play an important role for keypoint description and matching. Existing learning-based…

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the…