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Semantic boundary and edge detection aims at simultaneously detecting object edge pixels in images and assigning class labels to them. Systematic training of predictors for this task requires the labeling of edges in images which is a…

Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…

3D Point Cloud Semantic Segmentation (PCSS) is attracting increasing interest, due to its applicability in remote sensing, computer vision and robotics, and due to the new possibilities offered by deep learning techniques. In order to…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

We present a novel active learning framework for 3D point cloud semantic segmentation that, for the first time, integrates large language models (LLMs) to construct hierarchical label structures and guide uncertainty-based sample selection.…

Hypergraph spectral analysis has emerged as an effective tool processing complex data structures in data analysis. The surface of a three-dimensional (3D) point cloud and the multilateral relationship among their points can be naturally…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…

3D scene graph generation (SGG) has been of high interest in computer vision. Although the accuracy of 3D SGG on coarse classification and single relation label has been gradually improved, the performance of existing works is still far…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

The automatic semantic segmentation of the huge amount of acquired remote sensing data has become an important task in the last decade. Images and Point Clouds (PCs) are fundamental data representations, particularly in urban mapping…

Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…