相关论文: Box Pose and Shape Estimation and Domain Adaptatio…

Recent advances in deep learning have achieved promising performance for medical image analysis, while in most cases ground-truth annotations from human experts are necessary to train the deep model. In practice, such annotations are…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…

Recent deep learning methods for object detection rely on a large amount of bounding box annotations. Collecting these annotations is laborious and costly, yet supervised models do not generalize well when testing on images from a different…

We consider the task of visually estimating the relative pose of a drone racing gate in front of a nano-quadrotor, using a convolutional neural network pre-trained on simulated data to regress the gate's pose. Due to the sim-to-real gap,…

We introduce Multi-Source 3D (MS3D), a new self-training pipeline for unsupervised domain adaptation in 3D object detection. Despite the remarkable accuracy of 3D detectors, they often overfit to specific domain biases, leading to…

Multi-animal pose estimation is essential for studying animals' social behaviors in neuroscience and neuroethology. Advanced approaches have been proposed to support multi-animal estimation and achieve state-of-the-art performance. However,…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

Modern software systems are built to be used in dynamic environments using configuration capabilities to adapt to changes and external uncertainties. In a self-adaptation context, we are often interested in reasoning about the performance…

Many autonomous systems forecast aspects of the future in order to aid decision-making. For example, self-driving vehicles and robotic manipulation systems often forecast future object poses by first detecting and tracking objects. However,…

Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…

For object detection, it is possible to view the prediction of bounding boxes as a reverse diffusion process. Using a diffusion model, the random bounding boxes are iteratively refined in a denoising step, conditioned on the image. We…

Annotating objects with 3D bounding boxes in LiDAR pointclouds is a costly human driven process in an autonomous driving perception system. In this paper, we present a method to semi-automatically annotate real-world pointclouds collected…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

Supervised Deep Learning has been highly successful in recent years, achieving state-of-the-art results in most tasks. However, with the ongoing uptake of such methods in industrial applications, the requirement for large amounts of…

Domain Adaptation (DA) has received widespread attention from deep learning researchers in recent years because of its potential to improve test accuracy with out-of-distribution labeled data. Most state-of-the-art DA algorithms require an…

It is difficult to precisely annotate object instances and their semantics in 3D space, and as such, synthetic data are extensively used for these tasks, e.g., category-level 6D object pose and size estimation. However, the easy annotations…

Despite the recent progress on 6D object pose estimation methods for robotic grasping, a substantial performance gap persists between the capabilities of these methods on existing datasets and their efficacy in real-world grasping and…

Rotated bounding boxes drastically reduce output ambiguity of elongated objects, making it superior to axis-aligned bounding boxes. Despite the effectiveness, rotated detectors are not widely employed. Annotating rotated bounding boxes is…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…