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

Semi-supervised 3D object detection (SS3DOD) aims to reduce costly 3D annotations utilizing unlabeled data. Recent studies adopt pseudo-label-based teacher-student frameworks and demonstrate impressive performance. The main challenge of…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Traditional SLAM algorithms are typically based on artificial features, which lack high-level information. By introducing semantic information, SLAM can own higher stability and robustness rather than purely hand-crafted features. However,…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…

We present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image object detection, we…

Existing 3D object detection suffers from expensive annotation costs and poor transferability to unknown data due to the domain gap, Unsupervised Domain Adaptation (UDA) aims to generalize detection models trained in labeled source domains…

Pixel-level labels are particularly expensive to acquire. Hence, pretraining is a critical step to improve models on a task like semantic segmentation. However, prominent algorithms for pretraining neural networks use image-level…

Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Semi-supervised semantic segmentation methods leverage unlabeled data by pseudo-labeling them. Thus the success of these methods hinges on the reliablility of the pseudo-labels. Existing methods mostly choose high-confidence pixels in an…

Providing ground truth supervision to train visual models has been a bottleneck over the years, exacerbated by domain shifts which degenerate the performance of such models. This was the case when visual tasks relied on handcrafted features…

The paper focuses on the algorithm for improving the quality of 3D reconstruction and segmentation in DSP-SLAM by enhancing the RGB image quality. SharpSLAM algorithm developed by us aims to decrease the influence of high dynamic motion on…

Recently, a few self-supervised representation learning (SSL) methods have outperformed the ImageNet classification pre-training for vision tasks such as object detection. However, its effects on 3D human body pose and shape estimation…

Self-training is an important technique for solving semi-supervised learning problems. It leverages unlabeled data by generating pseudo-labels and combining them with a limited labeled dataset for training. The effectiveness of…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

Current 3D object detection methods heavily rely on an enormous amount of annotations. Semi-supervised learning can be used to alleviate this issue. Previous semi-supervised 3D object detection methods directly follow the practice of…