相关论文: Monocular Robot Navigation with Self-Supervised Pr…

Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…

Robotic manipulation requires explicit or implicit knowledge of the robot's joint positions. Precise proprioception is standard in high-quality industrial robots but is often unavailable in inexpensive robots operating in unstructured…

We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

We present a self-supervised approach to ignoring "distractors" in camera images for the purposes of robustly estimating vehicle motion in cluttered urban environments. We leverage offline multi-session mapping approaches to automatically…

Vision Transformer (ViT) has gained increasing attention in the computer vision community in recent years. However, the core component of ViT, Self-Attention, lacks explicit spatial priors and bears a quadratic computational complexity,…

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators,…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

Vision Transformers (ViTs) achieve state-of-the-art segmentation accuracy but require large training datasets because each layer has unique parameters that must be learned independently. We present RD-ViT, a Recurrent-Depth Vision…

Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…

Visual Prompt Tuning (VPT) is an effective tuning method for adapting pretrained Vision Transformers (ViTs) to downstream tasks. It leverages extra learnable tokens, known as prompts, which steer the frozen pretrained ViTs. Although VPT has…

Fine-grained classification is a challenging task that involves identifying subtle differences between objects within the same category. This task is particularly challenging in scenarios where data is scarce. Visual transformers (ViT) have…

In the last decade, convolutional neural networks (ConvNets) have dominated and achieved state-of-the-art performances in a variety of medical imaging applications. However, the performances of ConvNets are still limited by lacking the…

Large vision and language models learned directly through image-text associations often lack detailed visual substantiation, whereas image segmentation tasks are treated separately from recognition, supervisedly learned without…

We explore the plain, non-hierarchical Vision Transformer (ViT) as a backbone network for object detection. This design enables the original ViT architecture to be fine-tuned for object detection without needing to redesign a hierarchical…

Vision Transformer(ViT) is one of the most widely used models in the computer vision field with its great performance on various tasks. In order to fully utilize the ViT-based architecture in various applications, proper visualization…

Medical image segmentation is a vital healthcare endeavor requiring precise and efficient models for appropriate diagnosis and treatment. Vision transformer (ViT)-based segmentation models have shown great performance in accomplishing this…

We study a crucial yet often overlooked issue inherent to Vision Transformers (ViTs): feature maps of these models exhibit grid-like artifacts, which hurt the performance of ViTs in downstream dense prediction tasks such as semantic…

We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…