相关论文: From Semi-supervised to Omni-supervised Room Layou…

This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…

This work aims to tackle the labor-intensive and resource-consuming task of indoor positioning by proposing an efficient approach. The proposed approach involves the introduction of a semi-supervised learning (SSL) with a biased teacher…

Hidden features in neural network usually fail to learn informative representation for 3D segmentation as supervisions are only given on output prediction, while this can be solved by omni-scale supervision on intermediate layers. In this…

With the emergence of transformer-based architectures and large language models (LLMs), the accuracy of road scene perception has substantially advanced. Nonetheless, current road scene segmentation approaches are predominantly trained on…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Instance segmentation on point clouds is crucially important for 3D scene understanding. Most SOTAs adopt distance clustering, which is typically effective but does not perform well in segmenting adjacent objects with the same semantic…

In this paper, we delve into semi-supervised 2D human pose estimation. The previous method ignored two problems: (i) When conducting interactive training between large model and lightweight model, the pseudo label of lightweight model will…

Cluster counting in drift chamber is the most promising breakthrough in particle identification (PID) technique in particle physics experiment. Reconstruction algorithm is one of the key challenges in cluster counting. In this paper, a…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

The performance of supervised deep learning methods for medical image segmentation is often limited by the scarcity of labeled data. As a promising research direction, semi-supervised learning addresses this dilemma by leveraging unlabeled…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is particularly important for semantic segmentation tasks involving 3D datasets, which are often significantly…

Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…

Acquiring count annotations generally requires less human effort than point-level and bounding box annotations. Thus, we propose the novel problem setup of localizing objects in dense scenes under this weaker supervision. We propose LOOC, a…

Supervised deep learning requires massive labeled datasets, but obtaining annotations is not always easy or possible, especially for dense tasks like semantic segmentation. To overcome this issue, numerous works explore Unsupervised Domain…

Learning in data-scarce settings has recently gained significant attention in the research community. Semi-supervised object detection(SSOD) aims to improve detection performance by leveraging a large number of unlabeled images alongside a…

Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete…

In the practical application of point cloud completion tasks, real data quality is usually much worse than the CAD datasets used for training. A small amount of noisy data will usually significantly impact the overall system's accuracy. In…

Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…