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

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…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

We are witnessing a modeling shift from CNN to Transformers in computer vision. In this work, we present a self-supervised learning approach called MoBY, with Vision Transformers as its backbone architecture. The approach basically has no…

In this paper, we propose a new pipeline of training a monocular UAV to fly a collision-free trajectory along the dense forest trail. As gathering high-precision images in the real world is expensive and the off-the-shelf dataset has some…

Visual Teach and Repeat (VT\&R) allows an autonomous vehicle to repeat a previously traversed route without a global positioning system. Existing implementations of VT\&R typically rely on 3D sensors such as stereo cameras for mapping and…

The input tokens to Vision Transformers carry little semantic meaning as they are defined as regular equal-sized patches of the input image, regardless of its content. However, processing uniform background areas of an image should not…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

Camouflaged object detection (COD) and salient object detection (SOD) are two distinct yet closely-related computer vision tasks widely studied during the past decades. Though sharing the same purpose of segmenting an image into binary…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we propose Wild Visual Navigation (WVN), an…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

While insights into the workings of the transformer model have largely emerged by analysing their behaviour on language tasks, this work investigates the representations learnt by the Vision Transformer (ViT) encoder through the lens of…

Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…

Transformers have become the dominant model in natural language processing, owing to their ability to pretrain on massive amounts of data, then transfer to smaller, more specific tasks via fine-tuning. The Vision Transformer was the first…

Transformer has been very successful in various computer vision tasks and understanding the working mechanism of transformer is important. As touchstones, weakly-supervised semantic segmentation (WSSS) and class activation map (CAM) are…

Recently, several Vision Transformer (ViT) based methods have been proposed for Fine-Grained Visual Classification (FGVC).These methods significantly surpass existing CNN-based ones, demonstrating the effectiveness of ViT in FGVC…

Autonomous mobile robots are usually faced with challenging situations when driving in complex environments. Namely, they have to recognize the static and dynamic obstacles, plan the driving path and execute their motion. For addressing the…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

We apply pre-trained Vision Transformers (ViTs), originally developed for image recognition, to the analysis of astronomical spectral data. By converting traditional one-dimensional spectra into two-dimensional image representations, we…