相关论文: Benchmarking Domain Randomisation for Visual Sim-t…

This paper proposes an approach to domain transfer based on a pairwise loss function that helps transfer control policies learned in simulation onto a real robot. We explore the idea in the context of a 'category level' manipulation task…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Employing machine learning models in the real world requires collecting large amounts of data, which is both time consuming and costly to collect. A common approach to circumvent this is to leverage existing, similar data-sets with large…

Domain randomisation enhances the transferability of vision models across visually distinct domains with similar content. However, current methods heavily depend on intricate simulation engines, hampering feasibility and scalability. This…

Image to image translation is the problem of transferring an image from a source domain to a different (but related) target domain. We present a new unsupervised image to image translation technique that leverages the underlying semantic…

Classical Domain Adaptation methods acquire transferability by regularizing the overall distributional discrepancies between features in the source domain (labeled) and features in the target domain (unlabeled). They often do not…

Medical imaging systems are commonly assessed by use of objective image quality measures. Supervised deep learning methods have been investigated to implement numerical observers for task-based image quality assessment. However, labeling…

A commercial robot, trained by its manufacturer to recognize a predefined number and type of objects, might be used in many settings, that will in general differ in their illumination conditions, background, type and degree of clutter, and…

Various approaches have been proposed to learn visuo-motor policies for real-world robotic applications. One solution is first learning in simulation then transferring to the real world. In the transfer, most existing approaches need…

While developing perception based deep learning models, the benefit of synthetic data is enormous. However, performance of networks trained with synthetic data for certain computer vision tasks degrade significantly when tested on real…

Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…

The goal of this work is to improve images of traffic scenes that are degraded by natural causes such as fog, rain and limited visibility during the night. For these applications, it is next to impossible to get pixel perfect pairs of the…

Eye image segmentation is a critical step in eye tracking that has great influence over the final gaze estimate. Segmentation models trained using supervised machine learning can excel at this task, their effectiveness is determined by the…

Image-to-image translation architectures may have limited effectiveness in some circumstances. For example, while generating rainy scenarios, they may fail to model typical traits of rain as water drops, and this ultimately impacts the…

This study uses domain randomization to generate a synthetic RGB-D dataset for training multimodal instance segmentation models, aiming to achieve colour-agnostic hand localization in cluttered industrial environments. Domain randomization…

Virtual Reality (VR) bares promise of social interactions that can feel more immersive than other media. Key to this is the ability to accurately animate a personalized photorealistic avatar, and hence the acquisition of the labels for…

Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…

Our goal is to capture the pose of neuroscience model organisms, without using any manual supervision, to be able to study how neural circuits orchestrate behaviour. Human pose estimation attains remarkable accuracy when trained on real or…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

This paper presents a fully autonomous robotic system that performs sim-to-real transfer in complex long-horizon tasks involving navigation, recognition, grasping, and stacking in an environment with multiple obstacles. The key feature of…