相关论文: Realistically distributing object placements in sy…

The ability to detect and classify rare occurrences in images has important applications - for example, counting rare and endangered species when studying biodiversity, or detecting infrequent traffic scenarios that pose a danger to…

Deep learning methods typically require vast amounts of training data to reach their full potential. While some publicly available datasets exists, domain specific data always needs to be collected and manually labeled, an expensive, time…

Eye image segmentation is a critical step in eye tracking that has great influence over the final gaze estimate. Segmentation models trained using supervised machine learning can excel at this task, their effectiveness is determined by the…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

The use of rendered images, whether from completely synthetic datasets or from 3D reconstructions, is increasingly prevalent in vision tasks. However, little attention has been given to how the selection of viewpoints affects the…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Robots are expected to serve as intelligent assistants, helping humans with everyday household organization. A central challenge in this setting is the task of object placement, which requires reasoning about both semantic preferences…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

KITTI-CARLA is a dataset built from the CARLA v0.9.10 simulator using a vehicle with sensors identical to the KITTI dataset. The vehicle thus has a Velodyne HDL64 LiDAR positioned in the middle of the roof and two color cameras similar to…

In this work, we shed light on different data augmentation techniques commonly used in Light Detection and Ranging (LiDAR) based 3D Object Detection. For the bulk of our experiments, we utilize the well known PointPillars pipeline and the…

Deep learning approaches to object detection have achieved reliable detection of specific object classes in images. However, extending a model's detection capability to new object classes requires large amounts of annotated training data,…

To train well-performing generalizing neural networks, sufficiently large and diverse datasets are needed. Collecting data while adhering to privacy legislation becomes increasingly difficult and annotating these large datasets is both a…

Building generic robotic manipulation systems often requires large amounts of real-world data, which can be dificult to collect. Synthetic data generation offers a promising alternative, but limiting the sim-to-real gap requires significant…

Synthetic data can improve generalization when real data is scarce, but excessive reliance may introduce distributional mismatches that degrade performance. In this paper, we present a learning-theoretic framework to quantify the trade-off…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

Recent advancements in computer graphics technology allow more realistic ren-dering of car driving environments. They have enabled self-driving car simulators such as DeepGTA-V and CARLA (Car Learning to Act) to generate large amounts of…

When humans see a scene, they can roughly imagine the forces applied to objects based on their experience and use them to handle the objects properly. This paper considers transferring this "force-visualization" ability to robots. We…

The use of synthetic data in machine learning saves a significant amount of time when implementing an effective object detector. However, there is limited research in this domain. This study aims to improve upon previously applied…

One of the grand challenges of deep learning is the requirement to obtain large labeled training data sets. While synthesized data sets can be used to overcome this challenge, it is important that these data sets close the reality gap,…