相关论文: Self-Supervised Velocity Estimation for Automotive…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

In recent years, deep learning technology has been maturely applied in the field of object detection, and most algorithms tend to be supervised learning. However, a large amount of labeled data requires high costs of human resources, which…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR…

Current methods for trajectory prediction operate in supervised manners, and therefore require vast quantities of corresponding ground truth data for training. In this paper, we present a novel, label-free algorithm, AutoTrajectory, for…

We introduce a model for monocular RGB relative pose estimation of a ground robot that trains from scratch without pose labels nor prior knowledge about the robot's shape or appearance. At training time, we assume: (i) a robot fitted with…

Labeling data is often expensive and time-consuming, especially for tasks such as object detection and instance segmentation, which require dense labeling of the image. While few-shot object detection is about training a model on novel…

ImageNet pre-training has been regarded as essential for training accurate object detectors for a long time. Recently, it has been shown that object detectors trained from randomly initialized weights can be on par with those fine-tuned…

Conventional radar segmentation research has typically focused on learning category labels for different moving objects. Although fundamental differences between radar and optical sensors lead to differences in the reliability of predicting…

Supervised (pre-)training currently yields state-of-the-art performance for representation learning for visual recognition, yet it comes at the cost of (1) intensive manual annotations and (2) an inherent restriction in the scope of data…

Visual bird's eye view (BEV) semantic segmentation helps autonomous vehicles understand the surrounding environment only from images, including static elements (e.g., roads) and dynamic elements (e.g., vehicles, pedestrians). However, the…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

Self-supervised learning allows for better utilization of unlabelled data. The feature representation obtained by self-supervision can be used in downstream tasks such as classification, object detection, segmentation, and anomaly…

Dense Bird's Eye View (BEV) semantic maps are central to autonomous driving, yet current multi-camera methods depend on costly, inconsistently annotated BEV ground truth. We address this limitation with a two-phase training strategy for…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

We present a novel method for precise 3D object localization in single images from a single calibrated camera using only 2D labels. No expensive 3D labels are needed. Thus, instead of using 3D labels, our model is trained with…

We introduce a novel framework to track multiple objects in overhead camera videos for airport checkpoint security scenarios where targets correspond to passengers and their baggage items. We propose a Self-Supervised Learning (SSL)…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

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…

Self-supervised feature learning enables perception systems to benefit from the vast raw data recorded by vehicle fleets worldwide. While video-level self-supervised learning approaches have shown strong generalizability on classification…