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Convolutional neural networks (CNNs) and transfer learning have recently been used for 6 degrees of freedom (6-DoF) camera pose estimation. While they do not reach the same accuracy as visual SLAM-based approaches and are restricted to a…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

Machine learning (ML) tools such as encoder-decoder convolutional neural networks (CNN) can represent incredibly complex nonlinear functions which map between combinations of images and scalars. For example, CNNs can be used to map…

Convolutional Neural Networks (CNNs) are a standard approach for visual recognition due to their capacity to learn hierarchical representations from raw pixels. In practice, practitioners often choose among (i) training a compact custom CNN…

Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

Sub-10cm diameter nano-drones are gaining momentum thanks to their applicability in scenarios prevented to bigger flying drones, such as in narrow environments and close to humans. However, their tiny form factor also brings their major…

Convolutional Neural Networks (CNNs) do not have a predictable recognition behavior with respect to the input resolution change. This prevents the feasibility of deployment on different input image resolutions for a specific model. To…

With an aim to increase the capture range and accelerate the performance of state-of-the-art inter-subject and subject-to-template 3D registration, we propose deep learning-based methods that are trained to find the 3D position of…

Recently, outstanding identification rates in image classification tasks were achieved by convolutional neural networks (CNNs). to use such skills, selective CNNs trained on a dataset of well-known images of metal surface defects captured…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

The convolutional neural network (CNN) learns the same object in different positions in images, which can improve the recognition accuracy of the model. An implication of this is that CNN may know where the object is. The usefulness of the…

Object pose estimation is important for object manipulation and scene understanding. In order to improve the general applicability of pose estimators, recent research focuses on providing estimates for novel objects, that is objects unseen…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

Convolutional Neural Networks (CNN) has been widely applied in the realm of computer vision. However, given the fact that CNN models are translation invariant, they are not aware of the coordinate information of each pixel. Thus the…

In recent years, Convolutional Neural Networks (CNNs) have enabled significant advancements to the state-of-the-art in computer vision. For classification tasks, CNNs have widely employed probabilistic output and have shown the significance…

Advanced Driver-Assistance Systems rely heavily on perception tasks such as semantic segmentation where images are captured from large field of view (FoV) cameras. State-of-the-art works have made considerable progress toward applying…

The use of meta-learning and transfer learning in the task of few-shot image classification is a well researched area with many papers showcasing the advantages of transfer learning over meta-learning in cases where data is plentiful and…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Aiming at the difficulty of extracting image features and estimating the Jacobian matrix in image based visual servo, this paper proposes an image based visual servo approach with deep learning. With the powerful learning capabilities of…