Related papers: Efficient Hierarchical Graph-Based Segmentation of…

3D indoor scenes are widely used in computer graphics, with applications ranging from interior design to gaming to virtual and augmented reality. They also contain rich information, including room layout, as well as furniture type,…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Depth images captured by off-the-shelf RGB-D cameras suffer from much stronger noise than color images. In this paper, we propose a method to denoise the depth images in RGB-D images by color-guided graph filtering. Our iterative method…

Scene understanding is a critical problem in computer vision. In this paper, we propose a 3D point-based scene graph generation ($\mathbf{SGG_{point}}$) framework to effectively bridge perception and reasoning to achieve scene understanding…

In this paper, we propose a simple but effective method for fast image segmentation. We re-examine the locality-preserving character of spectral clustering by constructing a graph over image regions with both global and local connections.…

Ground segmentation in point cloud data is the process of separating ground points from non-ground points. This task is fundamental for perception in autonomous driving and robotics, where safety and reliable operation depend on the precise…

Learning on point cloud is eagerly in demand because the point cloud is a common type of geometric data and can aid robots to understand environments robustly. However, the point cloud is sparse, unstructured, and unordered, which cannot be…

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

Image segmentation in RGB space is a notoriously difficult task where state-of-the-art methods are trained on thousands or even millions of annotated images. While the performance is impressive, it is still not perfect. We propose a novel…

DBSCAN is a well-known density-based clustering algorithm to discover arbitrary shape clusters. While conceptually simple in serial, the algorithm is challenging to efficiently parallelize on manycore GPU architectures. Common pitfalls,…

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…

Point clouds and RGB images are naturally complementary modalities for 3D visual understanding - the former provides sparse but accurate locations of points on objects, while the latter contains dense color and texture information. Despite…

Modern graph or network datasets often contain rich structure that goes beyond simple pairwise connections between nodes. This calls for complex representations that can capture, for instance, edges of different types as well as so-called…

We propose methods for the analysis of hierarchical clustering that fully use the multi-resolution structure provided by a dendrogram. Specifically, we propose a loss for choosing between clustering methods, a feature importance score and a…

Object-level segmentation in dynamic 4D Gaussian scenes remains challenging due to complex motion, occlusions, and ambiguous boundaries. In this paper, we present an efficient learning-free 4D Gaussian segmentation framework that lifts…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

We present a novel hierarchical graph clustering algorithm inspired by modularity-based clustering techniques. The algorithm is agglomerative and based on a simple distance between clusters induced by the probability of sampling node pairs.…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…