相关论文: Stillleben: Realistic Scene Synthesis for Deep Lea…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Training a deep network to perform semantic segmentation requires large amounts of labeled data. To alleviate the manual effort of annotating real images, researchers have investigated the use of synthetic data, which can be labeled…

We present a method for synthesizing naturally looking images of multiple people interacting in a specific scenario. These images benefit from the advantages of synthetic data: being fully controllable and fully annotated with any type of…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

Training computer vision models usually requires collecting and labeling vast amounts of imagery under a diverse set of scene configurations and properties. This process is incredibly time-consuming, and it is challenging to ensure that the…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

We introduce Synscapes -- a synthetic dataset for street scene parsing created using photorealistic rendering techniques, and show state-of-the-art results for training and validation as well as new types of analysis. We study the behavior…

We present an overview and evaluation of a new, systematic approach for generation of highly realistic, annotated synthetic data for training of deep neural networks in computer vision tasks. The main contribution is a procedural world…

Data-driven methods such as convolutional neural networks (CNNs) are known to deliver state-of-the-art performance on image recognition tasks when the training data are abundant. However, in some instances, such as change detection in…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

Nanoparticles occur in various environments as a consequence of man-made processes, which raises concerns about their impact on the environment and human health. To allow for proper risk assessment, a precise and statistically relevant…

Modern machine learning models for scene understanding, such as depth estimation and object tracking, rely on large, high-quality datasets that mimic real-world deployment scenarios. To address data scarcity, we propose an end-to-end system…

Semantic tool segmentation in surgical videos is important for surgical scene understanding and computer-assisted interventions as well as for the development of robotic automation. The problem is challenging because different illumination…

Training data is an essential resource for creating capable and robust vision systems which are integral to the proper function of many robotic systems. Synthesized training data has been shown in recent years to be a viable alternative to…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

We present a system for training deep neural networks for object detection using synthetic images. To handle the variability in real-world data, the system relies upon the technique of domain randomization, in which the parameters of the…

Coupling the high-fidelity generation capabilities of label-conditional image synthesis methods with the flexibility of unconditional generative models, we propose a semantic bottleneck GAN model for unconditional synthesis of complex…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…