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Today, visual recognition systems are still rarely employed in robotics applications. Perhaps one of the main reasons for this is the lack of demanding benchmarks that mimic such scenarios. In this paper, we take advantage of our autonomous driving platform to develop novel challenging benchmarks for the tasks of stereo, optical flow, visual odometry/SLAM(More)
—We present a novel dataset captured from a VW station wagon for use in mobile robotics and autonomous driving research. In total, we recorded 6 hours of traffic scenarios at 10-100 Hz using a variety of sensor modalities such as high-resolution color and grayscale stereo cameras, a Velodyne 3D laser scanner and a high-precision GPS/IMU inertial navigation(More)
In this paper we propose a novel approach to binocular stereo for fast matching of high-resolution images. Our approach builds a prior on the disparities by forming a triangulation on a set of support points which can be robustly matched, reducing the matching ambiguities of the remaining points. This allows for efficient exploitation of the disparity(More)
We describe an approach for unsupervised learning of a generic, distributed sentence encoder. Using the continuity of text from books, we train an encoder-decoder model that tries to reconstruct the surrounding sentences of an encoded passage. Sentences that share semantic and syntactic properties are thus mapped to similar vector representations. We next(More)
Detecting objects becomes difficult when we need to deal with large shape deformation, occlusion and low resolution. We propose a novel approach to i) handle large deformations and partial occlusions in animals (as examples of highly deformable objects), ii) describe them in terms of body parts, and iii) detect them when their body parts are hard to detect(More)
Hypernymy, textual entailment, and image captioning can be seen as special cases of a single visual-semantic hierarchy over words, sentences, and images. In this paper we advocate for explicitly modeling the partial order structure of this hierarchy. Towards this goal, we introduce a general method for learning ordered representations , and show how it can(More)
In this paper we study the role of context in existing state-of-the-art detection and segmentation approaches. Towards this goal, we label every pixel of PASCAL VOC 2010 detection challenge with a semantic category. We believe this data will provide plenty of challenges to the community, as it contains 520 additional classes for semantic segmentation and(More)
We advocate the use of scaled Gaussian process latent variable models (SGPLVM) to learn prior models of 3D human pose for 3D people tracking. The SGPLVM simultaneously optimizes a low-dimensional embedding of the high-dimensional pose data and a density function that both gives higher probability to points close to training data and provides a nonlinear(More)
A popular approach to collaborative filtering is matrix factorization. In this paper we develop a non-linear probabilistic matrix factorization using Gaussian process latent variable models. We use stochastic gradient descent (SGD) to optimize the model. SGD allows us to apply Gaussian processes to data sets with millions of observations without approximate(More)
We advocate the use of Gaussian Process Dynamical Models (GPDMs) for learning human pose and motion priors for 3D people tracking. A GPDM provides a lowdimensional embedding of human motion data, with a density function that gives higher probability to poses and motions close to the training data. With Bayesian model averaging a GPDM can be learned from(More)