Related papers: Semantic Dense Reconstruction with Consistent Scen…

Deep neural network-based semantic segmentation generally requires large-scale cost extensive annotations for training to obtain better performance. To avoid pixel-wise segmentation annotations which are needed for most methods, recently…

Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers and implicit…

Event cameras, or Dynamic Vision Sensor (DVS), are very promising sensors which have shown several advantages over frame based cameras. However, most recent work on real applications of these cameras is focused on 3D reconstruction and…

Reconstructing urban scenes is challenging due to their complex geometries and the presence of potentially dynamic objects. 3D Gaussian Splatting (3DGS)-based methods have shown strong performance, but existing approaches often incorporate…

Semantic segmentation for aerial imagery is a challenging and important problem in remotely sensed imagery analysis. In recent years, with the success of deep learning, various convolutional neural network (CNN) based models have been…

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…

It is well accepted that image segmentation can benefit from utilizing multilevel cues. The paper focuses on utilizing the FCNN-based dense semantic predictions in the bottom-up image segmentation, arguing to take semantic cues into account…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

The Structure from Motion (SfM) challenge in computer vision is the process of recovering the 3D structure of a scene from a series of projective measurements that are calculated from a collection of 2D images, taken from different…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconstruct scenes densely, accurately, and in real-time while…

3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…

Deep learning techniques have led to remarkable breakthroughs in the field of generic object detection and have spawned a lot of scene-understanding tasks in recent years. Scene graph has been the focus of research because of its powerful…

This paper proposes PreSem-Surf, an optimized method based on the Neural Radiance Field (NeRF) framework, capable of reconstructing high-quality scene surfaces from RGB-D sequences in a short time. The method integrates RGB, depth, and…

Recent advances in image-level self-supervised learning (SSL) have made significant progress, yet learning dense representations for patches remains challenging. Mainstream methods encounter an over-dispersion phenomenon that patches from…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Semantic image segmentation is a principal problem in computer vision, where the aim is to correctly classify each individual pixel of an image into a semantic label. Its widespread use in many areas, including medical imaging and…

Existing techniques for dynamic scene reconstruction from multiple wide-baseline cameras primarily focus on reconstruction in controlled environments, with fixed calibrated cameras and strong prior constraints. This paper introduces a…