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

View selection is critical in active 3D neural reconstruction as it impacts the contents of training set and resulting final output quality. Recent view selection strategies emphasize the visibility when evaluating model uncertainty in…

Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…

To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…

Recovering the 3D structure of an object from a single image is a challenging task due to its ill-posed nature. One approach is to utilize the plentiful photos of the same object category to learn a strong 3D shape prior for the object.…

3D Move To See (3DMTS) is a mutli-perspective visual servoing method for unstructured and occluded environments, like that encountered in robotic crop harvesting. This paper presents a deep learning method, Deep-3DMTS for creating a…

Recent studies have shown remarkable advances in 3D human pose estimation from monocular images, with the help of large-scale in-door 3D datasets and sophisticated network architectures. However, the generalizability to different…

We present a framework for learning single-view shape and pose prediction without using direct supervision for either. Our approach allows leveraging multi-view observations from unknown poses as supervisory signal during training. Our…

The success of existing deep-learning based multi-view stereo (MVS) approaches greatly depends on the availability of large-scale supervision in the form of dense depth maps. Such supervision, while not always possible, tends to hinder the…

Self-supervised methods have recently proved to be nearly as effective as supervised ones in various imaging inverse problems, paving the way for learning-based approaches in scientific and medical imaging applications where ground truth…

3D reconstruction and novel view rendering can greatly benefit from geometric priors when the input views are not sufficient in terms of coverage and inter-view baselines. Deep learning of geometric priors from 2D images often requires each…

Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…

3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on text prompts, which is essential for applications such as robotics. However, existing 3DVG methods encounter two main challenges: first, they struggle to handle the…

While Visual Servoing is deeply studied to perform simple maneuvers, the literature does not commonly address complex cases where the target is far out of the camera's field of view (FOV) during the maneuver. For this reason, in this paper,…

This paper proposes a feature-based Visual Servoing (VS) method for insertion task skills. A camera mounted on the robot's end-effector provides the pose relative to a cylinder (hole), allowing a contact-free and damage-free search of the…

A significant weakness of most current deep Convolutional Neural Networks is the need to train them using vast amounts of manu- ally labelled data. In this work we propose a unsupervised framework to learn a deep convolutional neural…

Single-view depth estimation can be remarkably effective if there is enough ground-truth depth data for supervised training. However, there are scenarios, especially in medicine in the case of endoscopies, where such data cannot be…

Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…

Learning a good representation for space-time correspondence is the key for various computer vision tasks, including tracking object bounding boxes and performing video object pixel segmentation. To learn generalizable representation for…

3D object representation learning is a fundamental challenge in computer vision to infer about the 3D world. Recent advances in deep learning have shown their efficiency in 3D object recognition, among which view-based methods have…

We present a new self-supervised approach, SelfPose3d, for estimating 3d poses of multiple persons from multiple camera views. Unlike current state-of-the-art fully-supervised methods, our approach does not require any 2d or 3d ground-truth…