相关论文: W-RIZZ: A Weakly-Supervised Framework for Relative…

Light detection and ranging (LiDAR) remote sensing encompasses two major directions: data interpretation and parameter inversion. However, both directions rely heavily on costly and labor-intensive labeled data and field measurements, which…

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…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

The increasing use of robots in unstructured environments necessitates the development of effective perception and navigation strategies to enable field robots to successfully perform their tasks. In particular, it is key for such robots to…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

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…

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…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

Transfer learning is a powerful way to adapt existing deep learning models to new emerging use-cases in remote sensing. Starting from a neural network already trained for semantic segmentation, we propose to modify its label space to…

Unlike fully supervised semantic segmentation, weakly supervised semantic segmentation (WSSS) relies on weaker forms of supervision to perform dense prediction tasks. Among the various types of weak supervision, WSSS with image level…

We introduce the problem of weakly supervised Multi-Object Tracking and Segmentation, i.e. joint weakly supervised instance segmentation and multi-object tracking, in which we do not provide any kind of mask annotation. To address it, we…

It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…

Weakly supervised learning has emerged as an appealing alternative to alleviate the need for large labeled datasets in semantic segmentation. Most current approaches exploit class activation maps (CAMs), which can be generated from…

Supervised object detection and semantic segmentation require object or even pixel level annotations. When there exist image level labels only, it is challenging for weakly supervised algorithms to achieve accurate predictions. The accuracy…

We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…

We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…

We present OffRoadTranSeg, the first end-to-end framework for semi-supervised segmentation in unstructured outdoor environment using transformers and automatic data selection for labelling. The offroad segmentation is a scene understanding…

In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

Labeling training data has become one of the major roadblocks to using machine learning. Among various weak supervision paradigms, programmatic weak supervision (PWS) has achieved remarkable success in easing the manual labeling bottleneck…