相关论文: From Pairs to Sequences: Track-Aware Policy Gradie…

This paper proposes a novel paradigm for the unsupervised learning of object landmark detectors. Contrary to existing methods that build on auxiliary tasks such as image generation or equivariance, we propose a self-training approach where,…

In this thesis, we propose a pioneering work on sparse keypoints tracking across images using transformer networks. While deep learning-based keypoints matching have been widely investigated using graph neural networks - and more recently…

Despite the extensive adoption of machine learning on the task of visual object tracking, recent learning-based approaches have largely overlooked the fact that visual tracking is a sequence-level task in its nature; they rely heavily on…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Local feature frameworks are difficult to learn in an end-to-end fashion, due to the discreteness inherent to the selection and matching of sparse keypoints. We introduce DISK (DIScrete Keypoints), a novel method that overcomes these…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

Finding correspondences between images or 3D scans is at the heart of many computer vision and image retrieval applications and is often enabled by matching local keypoint descriptors. Various learning approaches have been applied in the…

We present a novel learned keypoint detection method designed to maximize the number of correct matches for the task of non-rigid image correspondence. Our training framework uses true correspondences, obtained by matching annotated image…

Feature matching is a fundamental problem in computer vision with wide-ranging applications, including simultaneous localization and mapping (SLAM), image stitching, and 3D reconstruction. While recent advances in deep learning have…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

Temporal consistency is critical in video prediction to ensure that outputs are coherent and free of artifacts. Traditional methods, such as temporal attention and 3D convolution, may struggle with significant object motion and may not…

We propose a novel learned keypoint detection method to increase the number of correct matches for the task of non-rigid image correspondence. By leveraging true correspondences acquired by matching annotated image pairs with a specified…

In this paper, we propose an end-to-end framework that jointly learns keypoint detection, descriptor representation and cross-frame matching for the task of image-based 3D localization. Prior art has tackled each of these components…

We propose a novel zero-shot approach for keypoint detection on 3D shapes. Point-level reasoning on visual data is challenging as it requires precise localization capability, posing problems even for powerful models like DINO or CLIP.…

Reinforcement Learning (RL) has proven highly effective in aligning Large Language Models (LLMs) with human preferences. Typical RL methods optimize under an overall sequence reward, which can lead to a suboptimal learning process. This…

Learning visual features from unlabeled images has proven successful for semantic categorization, often by mapping different $views$ of the same object to the same feature to achieve recognition invariance. However, visual recognition…

Keypoint detection & descriptors are foundational tech-nologies for computer vision tasks like image matching, 3D reconstruction and visual odometry. Hand-engineered methods like Harris corners, SIFT, and HOG descriptors have been used for…

In this paper, we propose a new approach for keypoint-based object detection. Traditional keypoint-based methods consist in classifying individual points and using pose estimation to discard misclassifications. Since a single point carries…

Recent works in multiple object tracking use sequence model to calculate the similarity score between the detections and the previous tracklets. However, the forced exposure to ground-truth in the training stage leads to the…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…