Related papers: Graph based Dynamic Segmentation of Generic Object…

To reduce cost in storing, processing and visualizing a large-scale point cloud, we consider a randomized resampling strategy to select a representative subset of points while preserving application-dependent features. The proposed strategy…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

This paper presents a method for automatic video object segmentation based on the fusion of motion stream, appearance stream, and instance-aware segmentation. The proposed scheme consists of a two-stream fusion network and an instance…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

This paper proposes a novel algorithm for the problem of structural image segmentation through an interactive model-based approach. Interaction is expressed in the model creation, which is done according to user traces drawn over a given…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…

In this paper we propose an approach to perform semantic segmentation of 3D point cloud data by importing the geographic information from a 2D GIS layer (OpenStreetMap). The proposed automatic procedure identifies meaningful units such as…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

This paper presents a real-time segmentation and reconstruction system that utilizes RGB-D images to generate accurate and detailed individual 3D models of objects within a captured scene. Leveraging state-of-the-art instance segmentation…

Fusing medical images and the corresponding 3D shape representation can provide complementary information and microstructure details to improve the operational performance and accuracy in brain surgery. However, compared to the substantial…

Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…

We study the problem of generating point clouds of 3D objects. Instead of discretizing the object into 3D voxels with huge computational cost and resolution limitations, we propose a novel geometry image based generator (GIG) to convert the…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…

Domain generalization in 3D segmentation is a critical challenge in deploying models to unseen environments. Current methods mitigate the domain shift by augmenting the data distribution of point clouds. However, the model learns global…

The semantic segmentation of 3D shapes with a high-density of vertices could be impractical due to large memory requirements. To make this problem computationally tractable, we propose a neural-network based approach that produces 3D…

Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…