相关论文: MSDA: Monocular Self-supervised Domain Adaptation …

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

Domain adaptation (DA) is a representation learning methodology that transfers knowledge from a label-sufficient source domain to a label-scarce target domain. While most of early methods are focused on unsupervised DA (UDA), several…

RGB-based 3D pose estimation methods have been successful with the development of deep learning and the emergence of high-quality 3D pose datasets. However, most existing methods do not operate well for testing images whose distribution is…

We consider the problem of source-free unsupervised category-level pose estimation from only RGB images to a target domain without any access to source domain data or 3D annotations during adaptation. Collecting and annotating real-world 3D…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

Spacecraft Pose Estimation (SPE) is a fundamental capability for autonomous space operations such as rendezvous, docking, and in-orbit servicing. Hybrid pipelines that combine object detection, keypoint regression, and Perspective-n-Point…

One of the key criticisms of deep learning is that large amounts of expensive and difficult-to-acquire training data are required in order to train models with high performance and good generalization capabilities. Focusing on the task of…

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…

6D object pose estimation is a fundamental problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even from monocular images. Nonetheless, CNNs are…

Supervised depth estimation has achieved high accuracy due to the advanced deep network architectures. Since the groundtruth depth labels are hard to obtain, recent methods try to learn depth estimation networks in an unsupervised way by…

Animal pose estimation is an important field that has received increasing attention in the recent years. The main challenge for this task is the lack of labeled data. Existing works circumvent this problem with pseudo labels generated from…

For monocular depth estimation, acquiring ground truths for real data is not easy, and thus domain adaptation methods are commonly adopted using the supervised synthetic data. However, this may still incur a large domain gap due to the lack…

Majority of state-of-the-art monocular depth estimation methods are supervised learning approaches. The success of such approaches heavily depends on the high-quality depth labels which are expensive to obtain. Some recent methods try to…

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…

Semi-supervised domain adaptation (SSDA), which aims to learn models in a partially labeled target domain with the assistance of the fully labeled source domain, attracts increasing attention in recent years. To explicitly leverage the…

Learning to estimate object pose often requires ground-truth (GT) labels, such as CAD model and absolute-scale object pose, which is expensive and laborious to obtain in the real world. To tackle this problem, we propose an unsupervised…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Data-driven based approaches, in spite of great success in many tasks, have poor generalization when applied to unseen image domains, and require expensive cost of annotation especially for dense pixel prediction tasks such as semantic…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

Unsupervised Domain Adaptation (DA) exploits the supervision of a label-rich source dataset to make predictions on an unlabeled target dataset by aligning the two data distributions. In robotics, DA is used to take advantage of…