相关论文: Indoor Semantic Segmentation using depth informati…

This paper proposes a new framework for semantic segmentation of objects in videos. We address the label inconsistency problem of deep convolutional neural networks (DCNNs) by exploiting the fact that videos have multiple frames; in a few…

The semantic image segmentation task consists of classifying each pixel of an image into an instance, where each instance corresponds to a class. This task is a part of the concept of scene understanding or better explaining the global…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

This paper addresses the visualisation of image classification models, learnt using deep Convolutional Networks (ConvNets). We consider two visualisation techniques, based on computing the gradient of the class score with respect to the…

Semantic tool segmentation in surgical videos is important for surgical scene understanding and computer-assisted interventions as well as for the development of robotic automation. The problem is challenging because different illumination…

The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more…

Almost all existing deep learning approaches for semantic segmentation tackle this task as a pixel-wise classification problem. Yet humans understand a scene not in terms of pixels, but by decomposing it into perceptual groups and…

We consider image classification with estimated depth. This problem falls into the domain of transfer learning, since we are using a model trained on a set of depth images to generate depth maps (additional features) for use in another…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…

Scene parsing, or semantic segmentation, consists in labeling each pixel in an image with the category of the object it belongs to. It is a challenging task that involves the simultaneous detection, segmentation and recognition of all the…

Geometric 3D scene classification is a very challenging task. Current methodologies extract the geometric information using only a depth channel provided by an RGB-D sensor. These kinds of methodologies introduce possible errors due to…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

Estimating scene flow in RGB-D videos is attracting much interest of the computer vision researchers, due to its potential applications in robotics. The state-of-the-art techniques for scene flow estimation, typically rely on the knowledge…

We present a deep learning framework for probabilistic pixel-wise semantic segmentation, which we term Bayesian SegNet. Semantic segmentation is an important tool for visual scene understanding and a meaningful measure of uncertainty is…

This paper contributes a novel cognitively-inspired method for RGB-D indoor scene classification. High intra-class variance and low inter-class variance make indoor scene classification an extremely challenging task. To cope with this…

Gradients have been used to quantify feature importance in machine learning models. Unfortunately, in nonlinear deep networks, not only individual neurons but also the whole network can saturate, and as a result an important input feature…

Deep-learning algorithms enable precise image recognition based on high-dimensional hierarchical image features. Here, we report the development and implementation of a deep-learning-based image segmentation algorithm in an autonomous…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…