相关论文: Self-supervised Wide Baseline Visual Servoing via …

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

A 3D scene consists of a set of objects, each with a shape and a layout giving their position in space. Understanding 3D scenes from 2D images is an important goal, with applications in robotics and graphics. While there have been recent…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…

Though a large body of computer vision research has investigated developing generic semantic representations, efforts towards developing a similar representation for 3D has been limited. In this paper, we learn a generic 3D representation…

Spatial reasoning on multi-view line drawings by state-of-the-art supervised deep networks is recently shown with puzzling low performances on the SPARE3D dataset. Based on the fact that self-supervised learning is helpful when a large…

In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…

We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…

Depth-image-based rendering is a key view synthesis algorithm in 3D video systems, which enables the synthesis of virtual views from texture images and depth maps. An efficient view synthesis distortion estimation model is critical for…

When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…

With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task of visual odometry (VO) estimation. Most of these proposed…

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

Modern 3D human pose estimation techniques rely on deep networks, which require large amounts of training data. While weakly-supervised methods require less supervision, by utilizing 2D poses or multi-view imagery without annotations, they…

A fundamental bottleneck in Novel View Synthesis (NVS) for autonomous driving is the inherent supervision gap on novel trajectories: models are tasked with synthesizing unseen views during inference, yet lack ground truth images for these…

We study the problem of novel view synthesis from sparse source observations of a scene comprised of 3D objects. We propose a simple yet effective approach that is neither continuous nor implicit, challenging recent trends on view…

At the core of self-supervised learning for vision is the idea of learning invariant or equivariant representations with respect to a set of data transformations. This approach, however, introduces strong inductive biases, which can render…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

We present an approach that learns to synthesize high-quality, novel views of 3D objects or scenes, while providing fine-grained and precise control over the 6-DOF viewpoint. The approach is self-supervised and only requires 2D images and…