相关论文: Good Deep Features to Track: Self-Supervised Featu…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Robotic automation in surgery requires precise tracking of surgical tools and mapping of deformable tissue. Previous works on surgical perception frameworks require significant effort in developing features for surgical tool and tissue…

Recently unsupervised learning of depth from videos has made remarkable progress and the results are comparable to fully supervised methods in outdoor scenes like KITTI. However, there still exist great challenges when directly applying…

In this work, we propose a progressive scaling training strategy for visual object tracking, systematically analyzing the influence of training data volume, model size, and input resolution on tracking performance. Our empirical study…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

Visual tracking is typically solved as a discriminative learning problem that usually requires high-quality samples for online model adaptation. It is a critical and challenging problem to evaluate the training samples collected from…

Unsupervised learning from visual data is one of the most difficult challenges in computer vision, being a fundamental task for understanding how visual recognition works. From a practical point of view, learning from unsupervised visual…

The tracking-by-detection framework requires a set of positive and negative training samples to learn robust tracking models for precise localization of target objects. However, existing tracking models mostly treat different samples…

Vessel segmentation is an essential task in many clinical applications. Although supervised methods have achieved state-of-art performance, acquiring expert annotation is laborious and mostly limited for two-dimensional datasets with a…

Object tracking is one of the fundamental problems in visual recognition tasks and has achieved significant improvements in recent years. The achievements often come with the price of enormous hardware consumption and expensive labor effort…

With the availability of large pre-trained models, a modern workflow for building real-world machine learning solutions is to fine-tune such models on a downstream task with a relatively small domain-specific dataset. In such applications,…

In this thesis we address two related aspects of visual object recognition: the use of motion information, and the use of internal supervision, to help unsupervised learning. These two aspects are inter-related in the current study, since…

Visual odometry networks commonly use pretrained optical flow networks in order to derive the ego-motion between consecutive frames. The features extracted by these networks represent the motion of all the pixels between frames. However,…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

We present a novel end-to-end visual odometry architecture with guided feature selection based on deep convolutional recurrent neural networks. Different from current monocular visual odometry methods, our approach is established on the…

Traditional evaluation metrics for learned models that report aggregate scores over a test set are insufficient for surfacing important and informative patterns of failure over features and instances. We introduce and study a method aimed…

Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…

Feature selection methods have an important role on the readability of data and the reduction of complexity of learning algorithms. In recent years, a variety of efforts are investigated on feature selection problems based on unsupervised…

This paper introduces a novel deep learning based approach for vision based single target tracking. We address this problem by proposing a network architecture which takes the input video frames and directly computes the tracking score for…