相关论文: Close the Optical Sensing Domain Gap by Physics-Gr…

We present three multi-scale similarity learning architectures, or DeepSim networks. These models learn pixel-level matching with a contrastive loss and are agnostic to the geometry of the considered scene. We establish a middle ground…

Virtual testing is a crucial task to ensure safety in autonomous driving, and sensor simulation is an important task in this domain. Most current LiDAR simulations are very simplistic and are mainly used to perform initial tests, while the…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation…

Event stereo matching is an emerging technique to estimate depth from neuromorphic cameras; however, events are unlikely to trigger in the absence of motion or the presence of large, untextured regions, making the correspondence problem…

Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…

Transparent objects are a very challenging problem in computer vision. They are hard to segment or classify due to their lack of precise boundaries, and there is limited data available for training deep neural networks. As such, current…

The Agent Based Model community has a rich and diverse ecosystem of libraries, platforms, and applications to help modelers develop rigorous simulations. Despite this robust and diverse ecosystem, the complexity of life from microbial…

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…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

In this work, we present a panoramic metric depth foundation model that generalizes across diverse scene distances. We explore a data-in-the-loop paradigm from the view of both data construction and framework design. We collect a…

Stereo matching is one of the most popular techniques to estimate dense depth maps by finding the disparity between matching pixels on two, synchronized and rectified images. Alongside with the development of more accurate algorithms, the…

3D-shape reconstruction in extreme environments, such as low illumination or scattering condition, has been an open problem and intensively researched. Active stereo is one of potential solution for such environments for its robustness and…

Training data is the key ingredient for deep learning approaches, but difficult to obtain for the specialized domains often encountered in robotics. We describe a synthesis pipeline capable of producing training data for cluttered scene…

Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…

In this work, we present STOPNet, a framework for 6-DoF object suction detection on production lines, with a focus on but not limited to transparent objects, which is an important and challenging problem in robotic systems and modern…

Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…

Complex image processing and computer vision systems often consist of a processing pipeline of functional modules. We intend to replace parts or all of a target pipeline with deep neural networks to achieve benefits such as increased…

Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…

We propose an end-to-end pipeline for both building and tracking 3D facial models from personalized in-the-wild (cellphone, webcam, youtube clips, etc.) video data. First, we present a method for automatic data curation and retrieval based…