相关论文: Volumetric Mapping with Panoptic Refinement via Ke…

We present a novel kernel-based machine learning algorithm for identifying the low-dimensional geometry of the effective dynamics of high-dimensional multiscale stochastic systems. Recently, the authors developed a mathematical framework…

One of the fundamental problems within the field of machine learning is dimensionality reduction. Dimensionality reduction methods make it possible to combat the so-called curse of dimensionality, visualize high-dimensional data and, in…

We present NeuralLabeling, a labeling approach and toolset for annotating 3D scenes using either bounding boxes or meshes and generating segmentation masks, affordance maps, 2D bounding boxes, 3D bounding boxes, 6DOF object poses, depth…

Accurate segmentation of 3-D cell nuclei in microscopy images is essential for the study of nuclear organization, gene expression, and cell morphodynamics. Current image segmentation methods are challenged by the complexity and variability…

In computed tomography, the approximation quality of a scan of a physical object is typically limited by the acquisition modalities, especially the hardware including X-ray detectors. To improve upon this, we experiment with a…

Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

Objective functions that optimize deep neural networks play a vital role in creating an enhanced feature representation of the input data. Although cross-entropy-based loss formulations have been extensively used in a variety of supervised…

Mammography is crucial for breast cancer surveillance and early diagnosis. However, analyzing mammography images is a demanding task for radiologists, who often review hundreds of mammograms daily, leading to overdiagnosis and…

We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconstruct scenes densely, accurately, and in real-time while…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Masked Image Modeling (MIM) has achieved impressive representative performance with the aim of reconstructing randomly masked images. Despite the empirical success, most previous works have neglected the important fact that it is…

With the emergence of wireless applications in three-dimensional environments, such as the low-altitude airspace and 3D heterogeneous networks, radio map estimation is increasingly required to characterize signal propagation across both…

Depth estimation plays a great potential role in obstacle avoidance and navigation for further Mars exploration missions. Compared to traditional stereo matching, learning-based stereo depth estimation provides a data-driven approach to…

Matching local geometric features on real-world depth images is a challenging task due to the noisy, low-resolution, and incomplete nature of 3D scan data. These difficulties limit the performance of current state-of-art methods, which are…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…