相关论文: DFBVS: Deep Feature-Based Visual Servo

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

For several emerging technologies such as augmented reality, autonomous driving and robotics, visual localization is a critical component. Directly regressing camera pose/3D scene coordinates from the input image using deep neural networks…

Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning.…

Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…

Video super-resolution (VSR) aims to reconstruct a sequence of high-resolution (HR) images from their corresponding low-resolution (LR) versions. Traditionally, solving a VSR problem has been based on iterative algorithms that can exploit…

In this paper, we leverage self-supervised vision transformer models and their emergent semantic abilities to improve the generalization abilities of imitation learning policies. We introduce DVK, an imitation learning algorithm that…

Despite the huge success of deep convolutional neural networks in face recognition (FR) tasks, current methods lack explainability for their predictions because of their "black-box" nature. In recent years, studies have been carried out to…

The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Standard deep learning models such as convolutional neural networks (CNNs) lack the ability of generalizing to domains which have not been seen during training. This problem is mainly due to the common but often wrong assumption of such…

The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…

Multi-view Detection (MVD) is highly effective for occlusion reasoning in a crowded environment. While recent works using deep learning have made significant advances in the field, they have overlooked the generalization aspect, which makes…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

Recent deep learning-based multi-view people detection (MVD) methods have shown promising results on existing datasets. However, current methods are mainly trained and evaluated on small, single scenes with a limited number of multi-view…

Exemplar learning of visual similarities in an unsupervised manner is a problem of paramount importance to Computer Vision. In this context, however, the recent breakthrough in deep learning could not yet unfold its full potential. With…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Generative based strategy has shown great potential in the Generalized Zero-Shot Learning task. However, it suffers severe generalization problem due to lacking of feature diversity for unseen classes to train a good classifier. In this…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

Multi-View Stereo (MVS) is a core task in 3D computer vision. With the surge of novel deep learning methods, learned MVS has surpassed the accuracy of classical approaches, but still relies on building a memory intensive dense cost volume.…

Robust visual tracking is a challenging computer vision problem, with many real-world applications. Most existing approaches employ hand-crafted appearance features, such as HOG or Color Names. Recently, deep RGB features extracted from…