Visual state estimation in unseen environments through domain adaptation and metric learning

Area of Science:

• Robotics
• Computer Vision
• Machine Learning

Background:

• Deep learning models are crucial for robotic visual perception tasks like tracking and pose estimation.
• Current methods rely heavily on annotated data, which is often expensive or unavailable.
• Domain augmentation improves generalization but may not disentangle task-relevant features from domain-specific variations.

Purpose of the Study:

• To enhance the generalization capabilities of deep learning models trained with domain augmentation.
• To address the challenge of separating task-relevant signals from domain-specific differences.
• To improve visual state estimation for challenging robotic applications.

Main Methods:

• Proposed a secondary structured metric-space learning objective.
• Applied domain augmentation to extend training datasets with variations.
• Focused on visual state estimation for articulated underground mining machines.

Main Results:

• Demonstrated the benefits of imposing structure on the encoding space.
• Showcased the potential to transfer feature embeddings from a source to an unseen target domain.
• Indicated improved generalization capabilities in models trained with the proposed method.

Conclusions:

• The proposed structured metric-space learning objective effectively improves model generalization.
• This approach is particularly beneficial for challenging domain transfer tasks in robotics.
• The method facilitates the transfer of learned feature embeddings to new, unseen domains.