相关论文: Unseen Object Instance Segmentation with Fully Tes…

The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…

Retinal vessel segmentation plays a key role in computer-aided screening, diagnosis, and treatment of various cardiovascular and ophthalmic diseases. Recently, deep learning-based retinal vessel segmentation algorithms have achieved…

The ability of robots to manipulate objects relies heavily on their aptitude for visual perception. In domains characterized by cluttered scenes and high object variability, most methods call for vast labeled datasets, laboriously…

Unsupervised Domain Adaptation (DA) exploits the supervision of a label-rich source dataset to make predictions on an unlabeled target dataset by aligning the two data distributions. In robotics, DA is used to take advantage of…

The ability to segment unknown objects in depth images has potential to enhance robot skills in grasping and object tracking. Recent computer vision research has demonstrated that Mask R-CNN can be trained to segment specific categories of…

Semantic segmentation is an important task for intelligent vehicles to understand the environment. Current deep learning methods require large amounts of labeled data for training. Manual annotation is expensive, while simulators can…

Part segmentations provide a rich and detailed part-level description of objects. However, their annotation requires an enormous amount of work, which makes it difficult to apply standard deep learning methods. In this paper, we propose the…

Unsupervised domain adaptation aims to transfer knowledge from a source domain to a target domain so that the target domain data can be recognized without any explicit labelling information for this domain. One limitation of the problem…

Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the…

Unsupervised Domain Adaptation for semantic segmentation has gained immense popularity since it can transfer knowledge from simulation to real (Sim2Real) by largely cutting out the laborious per pixel labeling efforts at real. In this work,…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

Robot perception systems need to perform reliable image segmentation in real-time on noisy, raw perception data. State-of-the-art segmentation approaches use large CNN models and carefully constructed datasets; however, these models focus…

Domain adaptation is especially important for robotics applications, where target domain training data is usually scarce and annotations are costly to obtain. We present a method for self-supervised domain adaptation for the scenario where…

In this paper we introduce a system for unsupervised object discovery and segmentation of RGBD-images. The system models the sensor noise directly from data, allowing accurate segmentation without sensor specific hand tuning of measurement…

Human-object interaction segmentation is a fundamental task of daily activity understanding, which plays a crucial role in applications such as assistive robotics, healthcare, and autonomous systems. Most existing learning-based methods…

Semantic segmentation networks, which are essential for robotic perception, often suffer from performance degradation when the visual distribution of the deployment environment differs from that of the source dataset on which they were…

We introduce EvObj for unsupervised 3D instance segmentation that bridges the geometric domain gap between synthetic pretraining data and real-world point clouds. Current methods suffer from structural discrepancies when transferring object…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Semantic segmentation is a crucial component for perception in automated driving. Deep neural networks (DNNs) are commonly used for this task and they are usually trained on a closed set of object classes appearing in a closed operational…

Typically a classifier trained on a given dataset (source domain) does not performs well if it is tested on data acquired in a different setting (target domain). This is the problem that domain adaptation (DA) tries to overcome and, while…