相关论文: Fast and Efficient Scene Categorization for Autono…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

This survey explores the adaptation of visual transformer models in Autonomous Driving, a transition inspired by their success in Natural Language Processing. Surpassing traditional Recurrent Neural Networks in tasks like sequential image…

Variational autoencoders (VAEs) are widely used deep generative models capable of learning unsupervised latent representations of data. Such representations are often difficult to interpret or control. We consider the problem of…

We propose a network architecture to perform efficient scene understanding. This work presents three main novelties: the first is an Improved Guided Upsampling Module that can replace in toto the decoder part in common semantic segmentation…

Detecting navigable space is the first and also a critical step for successful robot navigation. In this work, we treat the visual navigable space segmentation as a scene decomposition problem and propose a new network, NSS-VAEs (Navigable…

Visual scene understanding is a fundamental task in computer vision that aims to extract meaningful information from visual data. It traditionally involves disjoint and specialized algorithms for different tasks that are tailored for…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

A deep generative model that describes human motions can benefit a wide range of fundamental computer vision and graphics tasks, such as providing robustness to video-based human pose estimation, predicting complete body movements for…

Detectors in next-generation high-energy physics experiments face several daunting requirements, such as high data rates, damaging radiation exposure, and stringent constraints on power, space, and latency. To address these challenges,…

Image deraining holds great potential for enhancing the vision of autonomous vehicles in rainy conditions, contributing to safer driving. Previous works have primarily focused on employing a single network architecture to generate derained…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

Variational Autoencoders (VAEs) are powerful generative models capable of learning compact latent representations. However, conventional VAEs often generate relatively blurry images due to their assumption of an isotropic Gaussian latent…

In this study, we propose a novel scene descriptor for visual place recognition. Unlike popular bag-of-words scene descriptors which rely on a library of vector quantized visual features, our proposed descriptor is based on a library of raw…

Variational auto-encoder (VAE) is a powerful unsupervised learning framework for image generation. One drawback of VAE is that it generates blurry images due to its Gaussianity assumption and thus L2 loss. To allow the generation of high…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Insights into the learned latent representations are imperative for verifying deep neural networks (DNNs) in critical computer vision (CV) tasks. Therefore, state-of-the-art supervised Concept-based eXplainable Artificial Intelligence…

Complex visual scenes that are composed of multiple objects, each with attributes, such as object name, location, pose, color, etc., are challenging to describe in order to train neural networks. Usually,deep learning networks are trained…