Related papers: Fast, Exact and Multi-Scale Inference for Semantic…

State-of-the-art approaches for semantic segmentation rely on deep convolutional neural networks trained on fully annotated datasets, that have been shown to be notoriously expensive to collect, both in terms of time and money. To remedy…

We propose an efficient and scalable method for incrementally building a dense, semantically annotated 3D map in real-time. The proposed method assigns class probabilities to each region, not each element (e.g., surfel and voxel), of the 3D…

Machine learning methods on graphs have proven useful in many applications due to their ability to handle generally structured data. The framework of Gaussian Markov Random Fields (GMRFs) provides a principled way to define Gaussian models…

In this paper we propose a unified framework for structured prediction with latent variables which includes hidden conditional random fields and latent structured support vector machines as special cases. We describe a local entropy…

We present Generative Semantic Segmentation (GSS), a generative learning approach for semantic segmentation. Uniquely, we cast semantic segmentation as an image-conditioned mask generation problem. This is achieved by replacing the…

We present the Streaming Gaussian Dirichlet Random Field (S-GDRF) model, a novel approach for modeling a stream of spatiotemporally distributed, sparse, high-dimensional categorical observations. The proposed approach efficiently learns…

We propose a result-level category-specific fusion architecture called ClassWise-CRF. This architecture employs a two-stage process: first, it selects expert networks that perform well in specific categories from a pool of candidate…

This paper proposes a convolutional neural network that can fuse high-level prior for semantic image segmentation. Motivated by humans' vision recognition system, our key design is a three-layer generative structure consisting of high-level…

Deep CNNs for semantic segmentation have high memory and run time requirements. Various approaches have been proposed to make CNNs efficient like grouped, shuffled, depth-wise separable convolutions. We study the effectiveness of these…

When approaching the semantic segmentation of overhead imagery in the decimeter spatial resolution range, successful strategies usually combine powerful methods to learn the visual appearance of the semantic classes (e.g. convolutional…

Structural learning, a method to estimate the parameters for discrete energy minimization, has been proven to be effective in solving computer vision problems, especially in 3D scene parsing. As the complexity of the models increases,…

Modern computer vision (CV) is often based on convolutional neural networks (CNNs) that excel at hierarchical feature extraction. The previous generation of CV approaches was often based on conditional random fields (CRFs) that excel at…

Structured representations, such as Bags of Words, VLAD and Fisher Vectors, have proven highly effective to tackle complex visual recognition tasks. As such, they have recently been incorporated into deep architectures. However, while…

Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Conditional probabilistic graphical models provide a powerful framework for structured regression in spatio-temporal datasets with complex correlation patterns. However, in real-life applications a large fraction of observations is often…

Inspired by the success of adversarial learning, we propose a new end-to-end unsupervised deep learning framework for monocular depth estimation consisting of two Generative Adversarial Networks (GAN), deeply coupled with a structured…

Object detection is one of the most active areas in computer vision, which has made significant improvement in recent years. Current state-of-the-art object detection methods mostly adhere to the framework of regions with convolutional…

We develop an online probabilistic metric-semantic mapping approach for mobile robot teams relying on streaming RGB-D observations. The generated maps contain full continuous distributional information about the geometric surfaces and…

Dense semantic segmentation in dynamic environments is fundamentally limited by the low-frame-rate (LFR) nature of standard cameras, which creates critical perceptual gaps between frames. To solve this, we introduce Anytime Interframe…