图像修复(英语:Inpainting)指重建的图像和视频中丢失或损坏的部分的过程。例如在博物馆中,这项工作常由经验丰富的博物馆管理员或者艺术品修复师来进行。数码世界中,图像修复又称图像插值或视频插值,指利用复杂的算法来替换已丢失、损坏的图像数据,主要替换一些小区域和瑕疵。

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摘要: 图像修复是计算机视觉领域中极具挑战性的研究课题。近年来,深度学习技术的发展推动了图像修复性能的显著提升,使得图像修复这一传统课题再次引起了学者们的广泛关注。文章致力于综述图像修复研究的关键技术。由于深度学习技术在解决“大面积缺失图像修复”问题时具有重要作用并带来了深远影响,文中在简要介绍传统图像修复方法的基础上,重点介绍了基于深度学习的修复模型,主要包括模型分类、优缺点对比、适用范围和在常用数据集上的性能对比等,最后对图像修复潜在的研究方向和发展动态进行了分析和展望。

http://www.jsjkx.com/CN/10.11896/jsjkx.210100048

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We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result in longer paths as a conservative planner may try to avoid regions that are occluded. We propose a modular, deep learning-based framework that allows the robot to predict the existence of navigable areas in the occluded regions. Specifically, we use image inpainting methods to fill in parts of the areas that are potentially occluded, which can then be semantically segmented to determine navigability. We use supervised neural networks for both modules. However, these predictions may be incorrect. Therefore, we extract uncertainty in these predictions and use a risk-aware approach that takes these uncertainties into account for path planning. We compare modules in our approach with non-learning-based approaches to show the efficacy of the proposed framework through photo-realistic simulations. The modular pipeline allows further improvement in path planning and deployment in different settings.

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