相关论文: Lifelong Change Detection: Continuous Domain Adapt…

While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize. This is a severe limitation: any robot will inevitably see new objects in unconstrained settings, and thus will…

The training of a next-best-view (NBV) planner for visual place recognition (VPR) is a fundamentally important task in autonomous robot navigation, for which a typical approach is the use of visual experiences that are collected in the…

While recent advancement of domain adaptation techniques is significant, most of methods only align a feature extractor and do not adapt a classifier to target domain, which would be a cause of performance degradation. We propose novel…

Recent LiDAR-based 3D Object Detection (3DOD) methods show promising results, but they often do not generalize well to target domains outside the source (or training) data distribution. To reduce such domain gaps and thus to make 3DOD…

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…

The well known domain shift issue causes model performance to degrade when deployed to a new target domain with different statistics to training. Domain adaptation techniques alleviate this, but need some instances from the target domain to…

We propose a novel robotic system that can improve its perception during deployment. Contrary to the established approach of learning semantics from large datasets and deploying fixed models, we propose a framework in which semantic models…

Achieving top-notch performance in Intelligent Transportation detection is a critical research area. However, many challenges still need to be addressed when it comes to detecting in a cross-domain scenario. In this paper, we propose a…

Despite outstanding success in vision amongst other domains, many of the recent deep learning approaches have evident drawbacks for robots. This manuscript surveys recent work in the literature that pertain to applying deep learning systems…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…

We try to address the problem of document layout understanding using a simple algorithm which generalizes across multiple domains while training on just few examples per domain. We approach this problem via supervised object detection…

Annotating object ground truth in videos is vital for several downstream tasks in robot perception and machine learning, such as for evaluating the performance of an object tracker or training an image-based object detector. The accuracy of…

Despite the striking performance achieved by modern detectors when training and test data are sampled from the same or similar distribution, the generalization ability of detectors under unknown distribution shifts remains hardly studied.…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Visual domain gaps often impact object detection performance. Image-to-image translation can mitigate this effect, where contrastive approaches enable learning of the image-to-image mapping under unsupervised regimes. However, existing…

Recently the problem of cross-domain object detection has started drawing attention in the computer vision community. In this paper, we propose a novel unsupervised cross-domain detection model that exploits the annotated data in a source…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

Online change detection is crucial for mobile robots to efficiently navigate through dynamic environments. Detecting changes in transient settings, such as active construction sites or frequently reconfigured indoor spaces, is particularly…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…