相关论文: Indoor Semantic Segmentation using depth informati…

Deep learning techniques have successfully been employed in numerous computer vision tasks including image segmentation. The techniques have also been applied to medical image segmentation, one of the most critical tasks in computer-aided…

Depth is a very important modality in computer vision, typically used as complementary information to RGB, provided by RGB-D cameras. In this work, we show that it is possible to obtain the same level of accuracy as RGB-D cameras on a…

We propose Scan2Part, a method to segment individual parts of objects in real-world, noisy indoor RGB-D scans. To this end, we vary the part hierarchies of objects in indoor scenes and explore their effect on scene understanding models.…

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…

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…

A key challenge for RGB-D segmentation is how to effectively incorporate 3D geometric information from the depth channel into 2D appearance features. We propose to model the effective receptive field of 2D convolution based on the scale and…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

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.…

We propose a method for high-performance semantic image segmentation (or semantic pixel labelling) based on very deep residual networks, which achieves the state-of-the-art performance. A few design factors are carefully considered to this…

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…

Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…

We propose a novel superpixel-based multi-view convolutional neural network for semantic image segmentation. The proposed network produces a high quality segmentation of a single image by leveraging information from additional views of the…

We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the…

Deep Convolutional Neural Networks (DCNNs) have recently shown state of the art performance in high level vision tasks, such as image classification and object detection. This work brings together methods from DCNNs and probabilistic…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

We are interested in automatic scene understanding from geometric cues. To this end, we aim to bring semantic segmentation in the loop of real-time reconstruction. Our semantic segmentation is built on a deep autoencoder stack trained…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

One of the most common tasks in medical imaging is semantic segmentation. Achieving this segmentation automatically has been an active area of research, but the task has been proven very challenging due to the large variation of anatomy…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…