arXiv research

Self-supervised method estimates depth from monocular endoscopy videos.

Self-supervised method estimates distances on fisheye cameras for autonomous driving.

Method screens similar capsule endoscopic images, reducing doctor workload and improving accuracy.

Generates coherent 3D scenes from monocular videos without supervision.

Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we propose a set of improvements, which together result in both quantitatively and …

Develops panoramic gastroscopy for automatic polyp detection.

Regression Prior Networks improve ensemble performance on regression tasks.

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep learning approaches for localization and mapping in unknown environments from unlab…

Proposes a new metric to evaluate uncertainty in deep learning predictions.

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities of corresponding ground truth depth data for training. Just recording quality d…

Paper tackles depth estimation and optic disc-cup segmentation from color fundus images.

Automated detection of voice disorders with computational methods is a recent research area in the medical domain since it requires a rigorous endoscopy for the accurate diagnosis. Efficient screening methods are required for the diagnosis of voice disorders so as to provide timely medical facilities in minimal resourc…

We present NAVREN-RL, an approach to NAVigate an unmanned aerial vehicle in an indoor Real ENvironment via end-to-end reinforcement learning RL. A suitable reward function is designed keeping in mind the cost and weight constraints for micro drone with minimum number of sensing modalities. Collection of small number of…

We demonstrate the first application of deep reinforcement learning to autonomous driving. From randomly initialised parameters, our model is able to learn a policy for lane following in a handful of training episodes using a single monocular image as input. We provide a general and easy to obtain reward: the distance …

We present a generalization of the Cauchy/Lorentzian, Geman-McClure, Welsch/Leclerc, generalized Charbonnier, Charbonnier/pseudo-Huber/L1-L2, and L2 loss functions. By introducing robustness as a continuous parameter, our loss function allows algorithms built around robust loss minimization to be generalized, which imp…

This paper explores the capabilities of convolutional neural networks to deal with a task that is easily manageable for humans: perceiving 3D pose of a human body from varying angles. However, in our approach, we are restricted to using a monocular vision system. For this purpose, we apply a convolutional neural networ…

Sparse coding (Sc) has been studied very well as a powerful data representation method. It attempts to represent the feature vector of a data sample by reconstructing it as the sparse linear combination of some basic elements, and a $L_2$ norm distance function is usually used as the loss function for the reconstructio…

Sparsity inducing regularization is an important part for learning over-complete visual representations. Despite the popularity of $\ell_1$ regularization, in this paper, we investigate the usage of non-convex regularizations in this problem. Our contribution consists of three parts. First, we propose the leaky capped …

Learning from demonstration (LfD) is useful in settings where hand-coding behaviour or a reward function is impractical. It has succeeded in a wide range of problems but typically relies on manually generated demonstrations or specially deployed sensors and has not generally been able to leverage the copious demonstrat…

New method improves reliability of depth estimation models.

We propose a method to generate multiple diverse and valid human pose hypotheses in 3D all consistent with the 2D detection of joints in a monocular RGB image. We use a novel generative model uniform (unbiased) in the space of anatomically plausible 3D poses. Our model is compositional (produces a pose by combining par…

We consider the task of semantic robotic grasping, in which a robot picks up an object of a user-specified class using only monocular images. Inspired by the two-stream hypothesis of visual reasoning, we present a semantic grasping framework that learns object detection, classification, and grasp planning in an end-to-…

Y-GAN uses multi-camera data to estimate depth maps without expensive hardware.

Compact Gaussian model approximates deep ensemble predictions.

New method reconstructs 3D shapes from 2D images using Kendall's shape space.

We consider the problem of estimating human pose and trajectory by an aerial robot with a monocular camera in near real time. We present a preliminary solution whose distinguishing feature is a dynamic classifier selection architecture. In our solution, each video frame is corrected for perspective using projective tra…

Proposes a new method for robust uncertainty quantification in regression tasks.

Enhances SSL methods with depth cues for better image understanding.

Hybrid RL combines simulated and real data for robust autonomous flight.

For recovering 3D object poses from 2D images, a prevalent method is to pre-train an over-complete dictionary $\mathcal D=\{B_i\}_i^D$ of 3D basis poses. During testing, the detected 2D pose $Y$ is matched to dictionary by $Y \approx \sum_i M_i B_i$ where $\{M_i\}_i^D=\{c_i ΠR_i\}$, by estimating the rotation $R_i$, pr…