Related papers: Data Augmented 3D Semantic Scene Completion with 2…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

As a voxel-wise labeling task, semantic scene completion (SSC) tries to simultaneously infer the occupancy and semantic labels for a scene from a single depth and/or RGB image. The key challenge for SSC is how to effectively take advantage…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

Semantic segmentation using deep neural networks has been widely explored to generate high-level contextual information for autonomous vehicles. To acquire a complete $180^\circ$ semantic understanding of the forward surroundings, we…

In this paper we introduce a novel method for general semantic segmentation that can benefit from general semantics of Convolutional Neural Network (CNN). Our segmentation proposes visually and semantically coherent image segments. We use…

Semantic Scene Completion (SSC) aims to infer complete 3D geometry and semantics from monocular images, serving as a crucial capability for camera-based perception in autonomous driving. However, existing SSC methods relying on temporal…

Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…

Precise and accurate predictions over boundary areas are essential for semantic segmentation. However, the commonly-used convolutional operators tend to smooth and blur local detail cues, making it difficult for deep models to generate…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Multi-organ segmentation is one of most successful applications of deep learning in medical image analysis. Deep convolutional neural nets (CNNs) have shown great promise in achieving clinically applicable image segmentation performance on…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

Convolutional neural networks (CNNs) have received increasing attention over the last few years. They were initially conceived for image categorization, i.e., the problem of assigning a semantic label to an entire input image. In this paper…

State-of-the-art semantic image segmentation methods are mostly based on training deep convolutional neural networks (CNNs). In this work, we proffer to improve semantic segmentation with the use of contextual information. In particular, we…

Achieving optimal semantic segmentation with frame-based vision sensors poses significant challenges for real-time systems like UAVs and self-driving cars, which require rapid and precise processing. Traditional frame-based methods often…

We introduce a View-Volume convolutional neural network (VVNet) for inferring the occupancy and semantic labels of a volumetric 3D scene from a single depth image. The VVNet concatenates a 2D view CNN and a 3D volume CNN with a…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

Self-supervised learning (SSL) for point cloud pre-training has become a cornerstone for many 3D vision tasks, enabling effective learning from large-scale unannotated data. At the scene level, existing SSL methods often incorporate volume…