7 accepted papers
We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based planning. We generate a set of sub goals associated with frontiers o…
We consider the problem of estimating a parametric model of 3D human mesh from a single image. While there has been substantial recent progress in this area with direct regression of model parameters, these methods only implicitly exploit the human body kinematic structure, leading to sub-optimal us…
What is a good visual representation for navigation? We study this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a previously unseen environment to a target object, e.g. go to the refrigerator. Instead of acquiring a metric semantic ma…
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 past to different stages of the matching pipeline, considering…
We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured in 9 unique scenes. We train a fast object category detecto…
We propose a new method for the propagation of semantic labels in RGB-D video of indoor scenes given a set of ground truth keyframes. Manual labeling of all pixels in every frame of a video sequence is labor intensive and costly, yet required for training and testing of semantic segmentation methods…
The problem of image based localization has a long history both in robotics and computer vision and shares many similarities with image based retrieval problem. Existing techniques use either local features or (semi)-global image signatures in the context of topological mapping or loop closure detec…