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

Multi-modal 3D semantic segmentation is vital for applications such as autonomous driving and virtual reality (VR). To effectively deploy these models in real-world scenarios, it is essential to employ cross-domain adaptation techniques…

Robustness and resilience of simultaneous localization and mapping (SLAM) are critical requirements for modern autonomous robotic systems. One of the essential steps to achieve robustness and resilience is the ability of SLAM to have an…

Self-driving cars must detect other vehicles and pedestrians in 3D to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit to domain…

Semi-supervised learning aims to boost the accuracy of a model by exploring unlabeled images. The state-of-the-art methods are consistency-based which learn about unlabeled images by encouraging the model to give consistent predictions for…

Visual SLAM - Simultaneous Localization and Mapping - in dynamic environments typically relies on identifying and masking image features on moving objects to prevent them from negatively affecting performance. Current approaches are…

Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…

Acquiring labeled 6D poses from real images is an expensive and time-consuming task. Though massive amounts of synthetic RGB images are easy to obtain, the models trained on them suffer from noticeable performance degradation due to the…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

In this paper, we delve into semi-supervised 2D human pose estimation. The previous method ignored two problems: (i) When conducting interactive training between large model and lightweight model, the pseudo label of lightweight model will…

Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to…

Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

Deep learning is the essential building block of state-of-the-art person detectors in 2D range data. However, only a few annotated datasets are available for training and testing these deep networks, potentially limiting their performance…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…