Related papers: NDC-Scene: Boost Monocular 3D Semantic Scene Compl…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

Perceiving the three-dimensional (3D) structure of the spacecraft is a prerequisite for successfully executing many on-orbit space missions, and it can provide critical input for many downstream vision algorithms. In this paper, we propose…

We study a new problem of semantic complete scene forecasting (SCSF) in this work. Given a 4D dynamic point cloud sequence, our goal is to forecast the complete scene corresponding to the future next frame along with its semantic labels. To…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Convolutional neural networks (CNNs) show outstanding performance in many image processing problems, such as image recognition, object detection and image segmentation. Semantic segmentation is a very challenging task that requires…

Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…

Deep convolutional neural networks (CNNs) have dominated many computer vision domains because of their great power to extract good features automatically. However, many deep CNNs-based computer vison tasks suffer from lack of training data…

Many computer vision problems (e.g., camera calibration, image alignment, structure from motion) are solved with nonlinear optimization methods. It is generally accepted that second order descent methods are the most robust, fast, and…

Depth-guided 3D reconstruction has gained popularity as a fast alternative to optimization-heavy approaches, yet existing methods still suffer from scale drift, multi-view inconsistencies, and the need for substantial refinement to achieve…

The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image. Contrary to "instance-level" 6D pose estimation tasks, our problem assumes that no exact object CAD models are available during…

Depth estimation and semantic segmentation play essential roles in scene understanding. The state-of-the-art methods employ multi-task learning to simultaneously learn models for these two tasks at the pixel-wise level. They usually focus…

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…

Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…

Disparity prediction from stereo images is essential to computer vision applications including autonomous driving, 3D model reconstruction, and object detection. To predict accurate disparity map, we propose a novel deep learning…

Recently, camera-based solutions have been extensively explored for scene semantic completion (SSC). Despite their success in visible areas, existing methods struggle to capture complete scene semantics due to frequent visual occlusions. To…

Indoor monocular semantic scene completion (MSSC) is notably more challenging than its outdoor counterpart due to complex spatial layouts and severe occlusions. While transformers are well suited for modeling global dependencies, their high…

Current successful methods of 3D scene perception rely on the large-scale annotated point cloud, which is tedious and expensive to acquire. In this paper, we propose Model2Scene, a novel paradigm that learns free 3D scene representation…

As the key advancement of the convolutional neural networks (CNNs), depthwise separable convolutions (DSCs) are becoming one of the most popular techniques to reduce the computations and parameters size of CNNs meanwhile maintaining the…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

We propose the task of Panoptic Scene Completion (PSC) which extends the recently popular Semantic Scene Completion (SSC) task with instance-level information to produce a richer understanding of the 3D scene. Our PSC proposal utilizes a…