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

Achieving visual reasoning is a long-term goal of artificial intelligence. In the last decade, several studies have applied deep neural networks (DNNs) to the task of learning visual relations from images, with modest results in terms of…

Visual Place Recognition (VPR) aims to estimate the location of an image by treating it as a retrieval problem. VPR uses a database of geo-tagged images and leverages deep neural networks to extract a global representation, called…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Many tasks in computer vision can be cast as a "label changing" problem, where the goal is to make a semantic change to the appearance of an image or some subject in an image in order to alter the class membership. Although successful…

Recent advances in deep learning have significantly improved performance of video prediction. However, state-of-the-art methods still suffer from blurriness and distortions in their future predictions, especially when there are large…

Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…

In this paper, we tackle the challenge of actively attending to visual scenes using a foveated sensor. We introduce an end-to-end differentiable foveated active vision architecture that leverages a graph convolutional network to process…

A key requirement for generalist robots is compositional generalization - the ability to combine atomic skills to solve complex, long-horizon tasks. While prior work has primarily focused on synthesizing a planner that sequences pre-learned…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…

The content based image retrieval aims to find the similar images from a large scale dataset against a query image. Generally, the similarity between the representative features of the query image and dataset images is used to rank the…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a…

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…

Large intra-class variation is the result of changes in multiple object characteristics. Images, however, only show the superposition of different variable factors such as appearance or shape. Therefore, learning to disentangle and…

A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization…

Visual representations play a crucial role in developing generalist robotic policies. Previous vision encoders, typically pre-trained with single-image reconstruction or two-image contrastive learning, tend to capture static information,…

We propose a novel deep visual odometry (VO) method that considers global information by selecting memory and refining poses. Existing learning-based methods take the VO task as a pure tracking problem via recovering camera poses from image…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…