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

Passive methods for object detection and segmentation treat images of the same scene as individual samples and do not exploit object permanence across multiple views. Generalization to novel or difficult viewpoints thus requires additional…

Semi-supervised learning (SSL) can reduce the need for large labelled datasets by incorporating unlabelled data into the training. This is particularly interesting for semantic segmentation, where labelling data is very costly and…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…

3D human pose estimation is a key component of clinical monitoring systems. The clinical applicability of deep pose estimation models, however, is limited by their poor generalization under domain shifts along with their need for sufficient…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

Autonomous robots use simultaneous localization and mapping (SLAM) for efficient and safe navigation in various environments. LiDAR sensors are integral in these systems for object identification and localization. However, LiDAR systems…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

Orientation estimation is the core to a variety of vision and robotics tasks such as camera and object pose estimation. Deep learning has offered a way to develop image-based orientation estimators; however, such estimators often require…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimation and a back-end system for eliminating estimation drifts.…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…

Recently, unsupervised domain adaptation in satellite pose estimation has gained increasing attention, aiming at alleviating the annotation cost for training deep models. To this end, we propose a self-training framework based on the…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Despite the success in 6D pose estimation in bin-picking scenarios, existing methods still struggle to produce accurate prediction results for symmetry objects and real world scenarios. The primary bottlenecks include 1) the ambiguity…

Pseudo-Labeling has emerged as a simple yet effective technique for semi-supervised object detection (SSOD). However, the inevitable noise problem in pseudo-labels significantly degrades the performance of SSOD methods. Recent advances…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…