相关论文: Self-Supervised Image Representation Learning with…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

We pilot a family of stable contrastive losses for learning pixel-level representations that jointly capture semantic and geometric information. Our approach maps each pixel of an image to an overcomplete descriptor that is both…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

An effective framework for learning 3D representations for perception tasks is distilling rich self-supervised image features via contrastive learning. However, image-to point representation learning for autonomous driving datasets faces…

Self-supervision can dramatically cut back the amount of manually-labelled data required to train deep neural networks. While self-supervision has usually been considered for tasks such as image classification, in this paper we aim at…

Visual place recognition is a key to unlocking spatial navigation for animals, humans and robots. While state-of-the-art approaches are trained in a supervised manner and therefore hardly capture the information needed for generalizing to…

Self-supervised learning holds promise in leveraging large numbers of unlabeled data. However, its success heavily relies on the highly-curated dataset, e.g., ImageNet, which still needs human cleaning. Directly learning representations…

Learning inter-image similarity is crucial for 3D medical images self-supervised pre-training, due to their sharing of numerous same semantic regions. However, the lack of the semantic prior in metrics and the semantic-independent variation…

Deep neural networks need a big amount of training data, while in the real world there is a scarcity of data available for training purposes. To resolve this issue unsupervised methods are used for training with limited data. In this…

Accurate surround-view depth estimation provides a competitive alternative to laser-based sensors and is essential for 3D scene understanding in autonomous driving. While empirical studies have proposed various approaches that primarily…

In this work, we present a novel learning-based framework that combines the local accuracy of contrastive learning with the global consistency of geometric approaches, for robust non-rigid matching. We first observe that while contrastive…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

Most invariance-based self-supervised methods rely on single object-centric images (e.g., ImageNet images) for pretraining, learning features that invariant to geometric transformation. However, when images are not object-centric, the…

We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…

Nowadays, supervised learning is commonly used in many domains. Indeed, many works propose to learn new knowledge from examples that translate the expected behaviour of the considered system. A key issue of supervised learning concerns the…

Aiming at inferring 3D shapes from 2D images, 3D shape reconstruction has drawn huge attention from researchers in computer vision and deep learning communities. However, it is not practical to assume that 2D input images and their…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

Self-supervision allows learning meaningful representations of natural images, which usually contain one central object. How well does it transfer to multi-entity scenes? We discuss key aspects of learning structured object-centric…