相关论文: A 3D-Deep-Learning-based Augmented Reality Calibra…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…

The usage of environment sensor models for virtual testing is a promising approach to reduce the testing effort of autonomous driving. However, in order to deduce any statements regarding the performance of an autonomous driving function…

Deep metric learning (DML) is a cornerstone of many computer vision applications. It aims at learning a mapping from the input domain to an embedding space, where semantically similar objects are located nearby and dissimilar objects far…

For 3D object detection, labeling lidar point cloud is difficult, so data augmentation is an important module to make full use of precious annotated data. As a widely used data augmentation method, GT-sample effectively improves detection…

The inherent ambiguity in ground-truth annotations of 3D bounding boxes, caused by occlusions, signal missing, or manual annotation errors, can confuse deep 3D object detectors during training, thus deteriorating detection accuracy.…

At the heart of the success of deep learning is the quality of the data. Through data augmentation, one can train models with better generalization capabilities and thus achieve greater results in their field of interest. In this work, we…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

Data augmentations are important in training high-performance 3D object detectors for point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly, most state-of-the-art 3D detectors only use a few simple…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Tactile sensing plays a key role in enabling dexterous and reliable robotic manipulation, but realizing this capability requires substantial calibration to convert raw sensor readings into physically meaningful quantities. Despite its…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

In recent years, machine learning has developed rapidly, enabling the development of applications with high levels of recognition accuracy relating to the use of speech and images. However, other types of data to which these models can be…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…