Multi-view Self-supervised Object Segmentation
Ma Wenxuan1,2; ZhengLiming1,2; Cai Yinghao1; Lu Tao1; Wang Shuo1
Conference Name2023 IEEE International Conference on Robotics and Biomimetics
Conference Date2023-10
Conference PlaceSamui, Thailand
Robots often operate in open-world environments,  where the capability to generalize to new scenarios is crucial for robotic applications such as navigation and manipulation. In this paper, we propose a novel multi-view self-supervised framework (MVSS) to adapt off-the-shelf segmentation methods in a self-supervised manner by leveraging multi-view consistency. Pixel-level and object-level correspondences are established through unsupervised camera pose estimation and cross-frame object association to learn feature embeddings that the same object are close to each other and embeddings from different objects are separated. Experimental results show that it only needs to observe the RGB-D sequence once without any  annotation, our proposed method is able to adapt existing methods in new scenarios to achieve performance close to that of supervised segmentation methods.
Keyword具身视觉感知 自监督学习 机器人视觉
Indexed ByEI
IS Representative Paper
Sub direction classification智能机器人
planning direction of the national heavy laboratory视觉信息处理
Paper associated data
Document Type会议论文
Corresponding AuthorCai Yinghao
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Ma Wenxuan,ZhengLiming,Cai Yinghao,et al. Multi-view Self-supervised Object Segmentation[C],2023.
Files in This Item:
File Name/Size DocType Version Access License
Multi-view Self-supe(1326KB)会议论文 开放获取CC BY-NC-SAView
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Ma Wenxuan]'s Articles
[ZhengLiming]'s Articles
[Cai Yinghao]'s Articles
Baidu academic
Similar articles in Baidu academic
[Ma Wenxuan]'s Articles
[ZhengLiming]'s Articles
[Cai Yinghao]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Ma Wenxuan]'s Articles
[ZhengLiming]'s Articles
[Cai Yinghao]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Multi-view Self-supervised Object Segmentation.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.