相关论文: Sim2Real for Self-Supervised Monocular Depth and S…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…

Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…

Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects…

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…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Understanding the geometric and semantic properties of the scene is crucial in autonomous navigation and particularly challenging in the case of Unmanned Aerial Vehicle (UAV) navigation. Such information may be by obtained by estimating…

Unsupervised Domain Adaptation for semantic segmentation has gained immense popularity since it can transfer knowledge from simulation to real (Sim2Real) by largely cutting out the laborious per pixel labeling efforts at real. In this work,…

Adaptability is central to autonomy. Intuitively, for high-dimensional learning problems such as navigating based on vision, internal models with higher complexity allow to accurately encode the information available. However, most learning…

Sim2Real domain adaptation (DA) research focuses on the constrained setting of adapting from a labeled synthetic source domain to an unlabeled or sparsely labeled real target domain. However, for high-stakes applications (e.g. autonomous…

Current methods for single-image depth estimation use training datasets with real image-depth pairs or stereo pairs, which are not easy to acquire. We propose a framework, trained on synthetic image-depth pairs and unpaired real images,…

With the increasing safety validation requirements for the release of a self-driving car, alternative approaches, such as simulation-based testing, are emerging in addition to conventional real-world testing. In order to rely on virtual…

This paper presents a novel self-supervised two-frame multi-camera metric depth estimation network, termed M${^2}$Depth, which is designed to predict reliable scale-aware surrounding depth in autonomous driving. Unlike the previous works…

Sim2Real domain transfer offers a cost-effective and scalable approach for developing LiDAR-based perception (e.g., object detection, tracking, segmentation) in Intelligent Transportation Systems (ITS). However, perception models trained in…

Although recent semantic segmentation methods have made remarkable progress, they still rely on large amounts of annotated training data, which are often infeasible to collect in the autonomous driving scenario. Previous works usually…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Variational Autoencoders are one of the most commonly used generative models, particularly for image data. A prominent difficulty in training VAEs is data that is supported on a lower-dimensional manifold. Recent work by Dai and Wipf (2020)…

Supervised depth estimation has achieved high accuracy due to the advanced deep network architectures. Since the groundtruth depth labels are hard to obtain, recent methods try to learn depth estimation networks in an unsupervised way by…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

Estimating scene geometry from data obtained with cost-effective sensors is key for robots and self-driving cars. In this paper, we study the problem of predicting dense depth from a single RGB image (monodepth) with optional sparse…

Semantic segmentation provides pixel-level scene understanding essential for autonomous driving and fine-grained perception tasks. However, training segmentation models requires costly, labor-intensive annotations on real-world datasets.…