相关论文: Exploring intermediate representation for monocula…

Models for image representation learning are typically designed for either recognition or generation. Various forms of contrastive learning help models learn to convert images to embeddings that are useful for classification, detection, and…

The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…

We propose a method for self-supervised image representation learning under the guidance of 3D geometric consistency. Our intuition is that 3D geometric consistency priors such as smooth regions and surface discontinuities may imply…

Recent advances in implicit neural representations and differentiable rendering make it possible to simultaneously recover the geometry and materials of an object from multi-view RGB images captured under unknown static illumination.…

Recently Implicit Neural Representations (INRs) gained attention as a novel and effective representation for various data types. Thus far, prior work mostly focused on optimizing their reconstruction performance. This work investigates INRs…

Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted camera observations remains a critical challenge. In this…

This paper tackles the task of uncalibrated photometric stereo for 3D object reconstruction, where both the object shape, object reflectance, and lighting directions are unknown. This is an extremely difficult task, and the challenge is…

Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…

Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating…

Implicit neural representations (INRs) mark a fundamental shift in signal modeling, moving from discrete sampled data to continuous functional representations. By parameterizing signals as neural networks, INRs provide a unified framework…

Object-Centric Learning (OCL) aims to discover objects in images or videos by reconstructing the input. Representative methods achieve this by reconstructing the input as its Variational Autoencoder (VAE) discrete representations, which…

In this paper we propose an approach for monocular 3D object detection from a single RGB image, which leverages a novel disentangling transformation for 2D and 3D detection losses and a novel, self-supervised confidence score for 3D…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

Monocular 3D object detection has recently shown promising results, however there remain challenging problems. One of those is the lack of invariance to different camera intrinsic parameters, which can be observed across different 3D object…

Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments.…

In this work, we address the problem of jointly estimating albedo, normals, depth and 3D spatially-varying lighting from a single image. Most existing methods formulate the task as image-to-image translation, ignoring the 3D properties of…

Reliable object grasping is a crucial capability for autonomous robots. However, many existing grasping approaches focus on general clutter removal without explicitly modeling objects and thus only relying on the visible local geometry. We…

Training Single-Image Super-Resolution (SISR) models using pixel-based regression losses can achieve high distortion metrics scores (e.g., PSNR and SSIM), but often results in blurry images due to insufficient recovery of high-frequency…

We propose a new approach to inverse reinforcement learning (IRL) based on the deep Gaussian process (deep GP) model, which is capable of learning complicated reward structures with few demonstrations. Our model stacks multiple latent GP…

In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al.,…