相关论文: SynMotor: A Benchmark Suite for Object Attribute R…

3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work uses a standard tracking-by-detection pipeline, where feature extraction is first performed independently for each object in order to compute an affinity matrix.…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

Variants of accuracy and precision are the gold-standard by which the computer vision community measures progress of perception algorithms. One reason for the ubiquity of these metrics is that they are largely task-agnostic; we in general…

In cross-domain retrieval, a model is required to identify images from the same semantic category across two visual domains. For instance, given a sketch of an object, a model needs to retrieve a real image of it from an online store's…

We develop new algorithms for simultaneous learning of multiple tasks (e.g., image classification, depth estimation), and for adapting to unseen task/domain distributions within those high-level tasks (e.g., different environments). First,…

Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…

Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications. To support this, we introduce MatPredict, a dataset that…

We present a Quality-Diversity benchmark suite for Deep Neuroevolution in Reinforcement Learning domains for robot control. The suite includes the definition of tasks, environments, behavioral descriptors, and fitness. We specify different…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

Convolutional Neural Networks (CNN) are successfully used for various visual perception tasks including bounding box object detection, semantic segmentation, optical flow, depth estimation and visual SLAM. Generally these tasks are…

Creating computer vision datasets requires careful planning and lots of time and effort. In robotics research, we often have to use standardized objects, such as the YCB object set, for tasks such as object tracking, pose estimation,…

Learning with few labeled data has been a longstanding problem in the computer vision and machine learning research community. In this paper, we introduced a new semi-supervised learning framework, SimMatch, which simultaneously considers…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

Multi-task convolutional neural networks (CNNs) have shown impressive results for certain combinations of tasks, such as single-image depth estimation (SIDE) and semantic segmentation. This is achieved by pushing the network towards…

Over the years, datasets and benchmarks have had an outsized influence on the design of novel algorithms. In this paper, we introduce ChairSegments, a novel and compact semi-synthetic dataset for object segmentation. We also show empirical…

Three-dimensional feature extraction is a critical component of autonomous driving systems, where perception tasks such as 3D object detection, bird's-eye-view (BEV) semantic segmentation, and occupancy prediction serve as important…

While numerous 3D detection works leverage the complementary relationship between RGB images and point clouds, developments in the broader framework of semi-supervised object recognition remain uninfluenced by multi-modal fusion. Current…

We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our…

One promising approach to dealing with datapoints that are outside of the initial training distribution (OOD) is to create new classes that capture similarities in the datapoints previously rejected as uncategorizable. Systems that generate…