ダブルシャムネットワークによるLiDARとカメラの深層教師なし共通表現学習
Deep Unsupervised Common Representation Learning for LiDAR and Camera Data using Double Siamese Networks
LiDARとカメラのデータを教師なしで共通表現に変換する2つのフレームワークを提案し、画像処理タスクで評価した。
著者: Andreas Bühler, Niclas Vödisch, Mathias Bürki, Lukas Schaupp
分類: cs.CV, cs.RO
原文アブストラクト
Domain gaps of sensor modalities pose a challenge for the design of autonomous robots. Taking a step towards closing this gap, we propose two unsupervised training frameworks for finding a common representation of LiDAR and camera data. The first method utilizes a double Siamese training structure to ensure consistency in the results. The second method uses a Canny edge image guiding the networks towards a desired representation. All networks are trained in an unsupervised manner, leaving room for scalability. The results are evaluated using common computer vision applications, and the limitations of the proposed approaches are outlined.
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