Related papers: 3D-SIS: 3D Semantic Instance Segmentation of RGB-D…
This paper introduces a novel approach for 3D semantic instance segmentation on point clouds. A 3D convolutional neural network called submanifold sparse convolutional network is used to generate semantic predictions and instance embeddings…
Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…
Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…
We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…
Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…
Recently, Segment Anything Model (SAM) has demonstrated strong generalizability in various instance segmentation tasks. However, its performance is severely dependent on the quality of manual prompts. In addition, the RGB images that…
Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…
Many autonomous robotic applications require object-level understanding when deployed. Actively reconstructing objects of interest, i.e. objects with specific semantic meanings, is therefore relevant for a robot to perform downstream tasks…
We propose an online 3D semantic segmentation method that incrementally reconstructs a 3D semantic map from a stream of RGB-D frames. Unlike offline methods, ours is directly applicable to scenarios with real-time constraints, such as…
Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…
We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…
Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…
3D spatial information is known to be beneficial to the semantic segmentation task. Most existing methods take 3D spatial data as an additional input, leading to a two-stream segmentation network that processes RGB and 3D spatial…
The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…
This paper introduces a novel approach to 4D Panoptic LiDAR Segmentation that decouples semantic and instance segmentation, leveraging single-scan semantic predictions as prior information for instance segmentation. Our method D-PLS first…
The Reference Remote Sensing Image Segmentation (RRSIS) task generates segmentation masks for specified objects in images based on textual descriptions, which has attracted widespread attention and research interest. Current RRSIS methods…
The RGB-Depth (RGB-D) Video Object Segmentation (VOS) aims to integrate the fine-grained texture information of RGB with the spatial geometric clues of depth modality, boosting the performance of segmentation. However, off-the-shelf RGB-D…
In this paper, we focus on the challenging multicategory instance segmentation problem in remote sensing images (RSIs), which aims at predicting the categories of all instances and localizing them with pixel-level masks. Although many…
The task of automatically segmenting 3-D surfaces representing boundaries of objects is important for quantitative analysis of volumetric images, and plays a vital role in biomedical image analysis. Recently, graph-based methods with a…