相关论文: Self-supervised Learning of 3D Object Understandin…

In the era of deep learning, human pose estimation from multiple cameras with unknown calibration has received little attention to date. We show how to train a neural model to perform this task with high precision and minimal latency…

Monocular 3D object detection continues to attract attention due to the cost benefits and wider availability of RGB cameras. Despite the recent advances and the ability to acquire data at scale, annotation cost and complexity still limit…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

While multi-class 3D detectors are needed in many robotics applications, training them with fully labeled datasets can be expensive in labeling cost. An alternative approach is to have targeted single-class labels on disjoint data samples.…

Pose estimation of the human body and hands is a fundamental problem in computer vision, and learning-based solutions require a large amount of annotated data. In this work, we improve the efficiency of the data annotation process for 3D…

3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel semi-supervised method for 3D object detection…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

Orientation estimation is the core to a variety of vision and robotics tasks such as camera and object pose estimation. Deep learning has offered a way to develop image-based orientation estimators; however, such estimators often require…

Estimating 3d human pose from monocular images is a challenging problem due to the variety and complexity of human poses and the inherent ambiguity in recovering depth from the single view. Recent deep learning based methods show promising…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

Unsupervised domain adaptation (DA) with the aid of pseudo labeling techniques has emerged as a crucial approach for domain-adaptive 3D object detection. While effective, existing DA methods suffer from a substantial drop in performance…

Multi-label Learning on Image data has been widely exploited with deep learning models. However, supervised training on deep CNN models often cannot discover sufficient discriminative features for classification. As a result, numerous…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

We present a self-supervised learning approach to learning monocular 3D face reconstruction with a pose guidance network (PGN). First, we unveil the bottleneck of pose estimation in prior parametric 3D face learning methods, and propose to…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

Inferring 3D human pose from 2D images is a challenging and long-standing problem in the field of computer vision with many applications including motion capture, virtual reality, surveillance or gait analysis for sports and medicine. We…

Recent advances with Convolutional Networks (ConvNets) have shifted the bottleneck for many computer vision tasks to annotated data collection. In this paper, we present a geometry-driven approach to automatically collect annotations for…