相关论文: SLAM-Supported Self-Training for 6D Object Pose Es…

Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…

We present a simple, yet effective, approach for self-supervised 3D human pose estimation. Unlike the prior work, we explore the temporal information next to the multi-view self-supervision. During training, we rely on triangulating 2D body…

Semi-supervised object detection methods are widely used in autonomous driving systems, where only a fraction of objects are labeled. To propagate information from the labeled objects to the unlabeled ones, pseudo-labels for unlabeled…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical and virtual environments, it is imperative to develop…

Domain adaptation methods for 2D human pose estimation typically require continuous access to the source data during adaptation, which can be challenging due to privacy, memory, or computational constraints. To address this limitation, we…

Pre-training a recognition model with contrastive learning on a large dataset of unlabeled data has shown great potential to boost the performance of a downstream task, e.g., image classification. However, in domains such as medical…

Deep learning usually achieves the best results with complete supervision. In the case of semantic segmentation, this means that large amounts of pixelwise annotations are required to learn accurate models. In this paper, we show that we…

The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…

Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…

Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…

Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…

Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

The ability of accurate depth prediction by a convolutional neural network (CNN) is a major challenge for its wide use in practical visual simultaneous localization and mapping (SLAM) applications, such as enhanced camera tracking and dense…

We introduce a model for monocular RGB relative pose estimation of a ground robot that trains from scratch without pose labels nor prior knowledge about the robot's shape or appearance. At training time, we assume: (i) a robot fitted with…

One of the key criticisms of deep learning is that large amounts of expensive and difficult-to-acquire training data are required in order to train models with high performance and good generalization capabilities. Focusing on the task of…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…