相关论文: Object Instance Retrieval in Assistive Robotics: L…

Multimodal retrieval systems are becoming increasingly vital for cutting-edge AI technologies, such as embodied AI and AI-driven digital content industries. However, current multimodal retrieval tasks lack sufficient complexity and…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Transferring the ImageNet pre-trained weights to the various remote sensing tasks has produced acceptable results and reduced the need for labeled samples. However, the domain differences between ground imageries and remote sensing images…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Multi-class multi-instance segmentation is the task of identifying masks for multiple object classes and multiple instances of the same class within an image. The foundational Segment Anything Model (SAM) is designed for promptable…

Quality feature representation is key to instance image retrieval. To attain it, existing methods usually resort to a deep model pre-trained on benchmark datasets or even fine-tune the model with a task-dependent labelled auxiliary dataset.…

In this work, we study different approaches to self-supervised pretraining of object detection models. We first design a general framework to learn a spatially consistent dense representation from an image, by randomly sampling and…

Existing real-world super-resolution (RSR) methods based on generative priors have achieved remarkable progress in producing high-quality and globally consistent reconstructions. However, they often struggle to recover fine-grained details…

We present SWIM (See What I Mean), a novel training strategy that aligns vision and language representations to enable fine-grained object understanding solely from textual prompts. Unlike existing approaches that require explicit visual…

We aim for mobile robots to function in a variety of common human environments. Such robots need to be able to reason about the locations of previously unseen target objects. Landmark objects can help this reasoning by narrowing down the…

Weakly supervised instance segmentation using only bounding box annotations has recently attracted much research attention. Most of the current efforts leverage low-level image features as extra supervision without explicitly exploiting the…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

We address the problem of jointly learning vision and language to understand the object in a fine-grained manner. The key idea of our approach is the use of object descriptions to provide the detailed understanding of an object. Based on…

Instance detection (InsDet) aims to localize specific object instances within a novel scene imagery based on given visual references. Technically, it requires proposal detection to identify all possible object instances, followed by…

In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection,…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

Change in viewpoint is one of the major factors for variation in object appearance across different images. Thus, view-invariant object recognition is a challenging and important image understanding task. In this paper, we propose a method…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…