相关论文: On Domain-Specific Pre-Training for Effective Sema…

The production of food, feed, fiber, and fuel is a key task of agriculture, which has to cope with many challenges in the upcoming decades, e.g., a higher demand, climate change, lack of workers, and the availability of arable land. Vision…

Performance of a pre-trained semantic segmentation model is likely to substantially decrease on data from a new domain. We show a pre-trained model can be adapted to unlabelled target domain data by calculating soft-label prototypes under…

Learning Based Robot Grasping currently involves the use of labeled data. This approach has two major disadvantages. Firstly, labeling data for grasp points and angles is a strenuous process, so the dataset remains limited. Secondly, human…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

Autonomous robotic systems applied to new domains require an abundance of expensive, pixel-level dense labels to train robust semantic segmentation models under full supervision. This study proposes a model-agnostic Depth Edge Alignment…

Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The…

Robot perception systems need to perform reliable image segmentation in real-time on noisy, raw perception data. State-of-the-art segmentation approaches use large CNN models and carefully constructed datasets; however, these models focus…

Supervised machine learning provides state-of-the-art solutions to a wide range of computer vision problems. However, the need for copious labelled training data limits the capabilities of these algorithms in scenarios where such input is…

Although well-known large-scale datasets, such as ImageNet, have driven image understanding forward, most of these datasets require extensive manual annotation and are thus not easily scalable. This limits the advancement of image…

This paper explores the potential for performing temporal semantic segmentation in the context of agricultural robotics without temporally labelled data. We achieve this by proposing to generate virtual temporal samples from labelled still…

In defense-related remote sensing applications, such as vehicle detection on satellite imagery, supervised learning requires a huge number of labeled examples to reach operational performances. Such data are challenging to obtain as it…

We are considering in this paper the task of label-efficient fine-tuning of segmentation models: We assume that a large labeled dataset is available and allows to train an accurate segmentation model in one domain, and that we have to adapt…

Selective weeding is one of the key challenges in the field of agriculture robotics. To accomplish this task, a farm robot should be able to accurately detect plants and to distinguish them between crop and weeds. Most of the promising…

Autonomous driving requires self awareness of its perception functions. Technically spoken, this can be realized by observers, which monitor the performance indicators of various perception modules. In this work we choose, exemplarily, a…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

Uncontrolled growth of weeds can severely affect the crop yield and quality. Unrestricted use of herbicide for weed removal alters biodiversity and cause environmental pollution. Instead, identifying weed-infested regions can aid selective…

Comprehensive semantic segmentation is one of the key components for robust scene understanding and a requirement to enable autonomous driving. Driven by large scale datasets, convolutional neural networks show impressive results on this…

Using deep learning, we now have the ability to create exceptionally good semantic segmentation systems; however, collecting the prerequisite pixel-wise annotations for training images remains expensive and time-consuming. Therefore, it…

To better optimise the global food supply chain, robotic solutions are needed to automate tasks currently completed by humans. Namely, phenotyping, quality analysis and harvesting are all open problems in the field of agricultural robotics.…

Semantic segmentation is a crucial task for robot navigation and safety. However, it requires huge amounts of pixelwise annotations to yield accurate results. While recent progress in computer vision algorithms has been heavily boosted by…