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For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Geospatial object segmentation, as a particular semantic segmentation task, always faces with larger-scale variation, larger intra-class variance of background, and foreground-background imbalance in the high spatial resolution (HSR) remote…
Amodal perception terms the ability of humans to imagine the entire shapes of occluded objects. This gives humans an advantage to keep track of everything that is going on, especially in crowded situations. Typical perception functions,…
Perception is an essential component of pipelines in field robotics. In this survey, we quantitatively compare publicly available datasets available in unstructured outdoor environments. We focus on datasets for common perception tasks in…
Recently, deep learning based methods have revolutionized remote sensing image segmentation. However, these methods usually rely on a pre-defined semantic class set, thus needing additional image annotation and model training when adapting…
3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…
The complex driving environment brings great challenges to the visual perception of autonomous vehicles. It's essential to extract clear and explainable information from the complex road and traffic scenarios and offer clues to decision and…
Autonomous vehicles rely on camera, LiDAR, and radar sensors to navigate the environment. Adverse weather conditions like snow, rain, and fog are known to be problematic for both camera and LiDAR-based perception systems. Currently, it is…
We present OpenSeeD, a simple Open-vocabulary Segmentation and Detection framework that jointly learns from different segmentation and detection datasets. To bridge the gap of vocabulary and annotation granularity, we first introduce a…
The advancement of autonomous drones, essential for sectors such as remote sensing and emergency services, is hindered by the absence of training datasets that fully capture the environmental challenges present in real-world scenarios,…
Unsupervised Domain Adaptation has been an efficient approach to transferring the semantic segmentation model across data distributions. Meanwhile, the recent Open-vocabulary Semantic Scene understanding based on large-scale vision language…
Autonomous driving has rapidly developed and shown promising performance due to recent advances in hardware and deep learning techniques. High-quality datasets are fundamental for developing reliable autonomous driving algorithms. Previous…
We propose GANav, a novel group-wise attention mechanism to identify safe and navigable regions in off-road terrains and unstructured environments from RGB images. Our approach classifies terrains based on their navigability levels using…
Fully understanding a complex high-resolution satellite or aerial imagery scene often requires spatial reasoning over a broad relevant context. The human object recognition system is able to understand object in a scene over a long-range…
Open-vocabulary semantic segmentation (OVSS) extends traditional closed-set segmentation by enabling pixel-wise annotation for both seen and unseen categories using arbitrary textual descriptions. While existing methods leverage…
In this work, we address the problem of semantic object segmentation using foundation models. We investigate whether foundation models, trained on a large number and variety of objects, can perform object segmentation without fine-tuning on…
Amodal instance segmentation, which aims to detect and segment both visible and invisible parts of objects in images, plays a crucial role in various applications including autonomous driving, robotic manipulation, and scene understanding.…
The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…
Scene understanding is crucial for autonomous robots in dynamic environments for making future state predictions, avoiding collisions, and path planning. Camera and LiDAR perception made tremendous progress in recent years, but face…
Reliable road segmentation in all weather conditions is critical for intelligent transportation applications, autonomous vehicles and advanced driver's assistance systems. For robust performance, all weather conditions should be included in…