相关论文: Object Detection Using Sim2Real Domain Randomizati…

Object detection is one of the major problems in computer vision, and has been extensively studied. Most of the existing detection works rely on labor-intensive supervision, such as ground truth bounding boxes of objects or at least…

Sim-to-real, a term that describes where a model is trained in a simulator then transferred to the real world, is a technique that enables faster deep reinforcement learning (DRL) training. However, differences between the simulator and the…

This paper presents a Simple and effective unsupervised adaptation method for Robust Object Detection (SimROD). To overcome the challenging issues of domain shift and pseudo-label noise, our method integrates a novel domain-centric…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…

Object perception is fundamental for tasks such as robotic material handling and quality inspection. However, modern supervised deep-learning models require large annotated datasets for robust automation under semi-uncontrolled conditions;…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

Computer vision systems currently lack the ability to reliably recognize artistically rendered objects, especially when such data is limited. In this paper, we propose a method for recognizing objects in artistic modalities (such as…

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 the past, computer vision systems for digitized documents could rely on systematically captured, high-quality scans. Today, transactions involving digital documents are more likely to start as mobile phone photo uploads taken by…

Object classification with 3D data is an essential component of any scene understanding method. It has gained significant interest in a variety of communities, most notably in robotics and computer graphics. While the advent of deep…

The availability of data is limited in some fields, especially for object detection tasks, where it is necessary to have correctly labeled bounding boxes around each object. A notable example of such data scarcity is found in the domain of…

Scalable training data generation is a critical problem in deep learning. We propose PennSyn2Real - a photo-realistic synthetic dataset consisting of more than 100,000 4K images of more than 20 types of micro aerial vehicles (MAVs). The…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

Deep learning has raised hopes and expectations as a general solution for many applications; indeed it has proven effective, but it also showed a strong dependence on large quantities of data. Luckily, it has been shown that, even when data…

Recently, the use of synthetic training data has been on the rise as it offers correctly labelled datasets at a lower cost. The downside of this technique is that the so-called domain gap between the real target images and synthetic…

The goal of this work is to address the recent success of domain randomization and data augmentation for the sim2real setting. We explain this success through the lens of causal inference, positioning domain randomization and data…

The ability to segment unknown objects in cluttered scenes has a profound impact on robot grasping. The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream, which…

Recently, the use of synthetic datasets based on game engines has been shown to improve the performance of several tasks in computer vision. However, these datasets are typically only appropriate for the specific domains depicted in…

Segmenting unseen objects is a crucial ability for the robot since it may encounter new environments during the operation. Recently, a popular solution is leveraging RGB-D features of large-scale synthetic data and directly applying the…