Related papers: Slanted Stixels: A way to represent steep streets

In this work we present a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel…

We propose a layered street view model to encode both depth and semantic information on street view images for autonomous driving. Recently, stixels, stix-mantics, and tiered scene labeling methods have been proposed to model street view…

This paper presents StixelNExT++, a novel approach to scene representation for monocular perception systems. Building on the established Stixel representation, our method infers 3D Stixels and enhances object segmentation by clustering…

In this paper we present mono-stixels, a compact environment representation specially designed for dynamic street scenes. Mono-stixels are a novel approach to estimate stixels from a monocular camera sequence instead of the traditionally…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Stixels have been successfully applied to a wide range of vision tasks in autonomous driving, recently including instance segmentation. However, due to their sparse occurrence in the image, until now Stixels seldomly served as input for…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

We introduce a novel deep learning-based framework to interpret 3D urban scenes represented as textured meshes. Based on the observation that object boundaries typically align with the boundaries of planar regions, our framework achieves…

To bridge the semantic gap between vision and language (VL), it is necessary to develop a good alignment strategy, which includes handling semantic diversity, abstract representation of visual information, and generalization ability of…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

Graph-based convolutional model such as non-local block has shown to be effective for strengthening the context modeling ability in convolutional neural networks (CNNs). However, its pixel-wise computational overhead is prohibitive which…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Superpixels are a useful representation to reduce the complexity of image data. However, to combine superpixels with convolutional neural networks (CNNs) in an end-to-end fashion, one requires extra models to generate superpixels and…

In this paper, we present a new image segmentation method based on the concept of sparse subset selection. Starting with an over-segmentation, we adopt local spectral histogram features to encode the visual information of the small segments…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…