相关论文: Fusion Based Holistic Road Scene Understanding

Autonomous driving is becoming a reality, yet vehicles still need to rely on complex sensor fusion to understand the scene they act in. The ability to discern static environment and dynamic entities provides a comprehension of the road…

Holistic understanding of urban scenes based on RGB images is a challenging yet important problem. It encompasses understanding both the geometry and appearance to enable novel view synthesis, parsing semantic labels, and tracking moving…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…

Object parsing -- the task of decomposing an object into its semantic parts -- has traditionally been formulated as a category-level segmentation problem. Consequently, when there are multiple objects in an image, current methods cannot…

Despite the great success object detection and segmentation models have achieved in recognizing individual objects in images, performance on cognitive tasks such as image caption, semantic image retrieval, and visual QA is far from…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…

Fine-grained object detection in challenging visual domains, such as vehicle damage assessment, presents a formidable challenge even for human experts to resolve reliably. While DiffusionDet has advanced the state-of-the-art through…

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…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Semantic mapping based on the supervised object detectors is sensitive to image distribution. In real-world environments, the object detection and segmentation performance can lead to a major drop, preventing the use of semantic mapping in…

Dynamic scene understanding is a challenging problem and motion segmentation plays a crucial role in solving it. Incorporating semantics and motion enhances the overall perception of the dynamic scene. For applications of outdoor robotic…

Task-specific data-fusion networks have marked considerable achievements in urban scene parsing. Among these networks, our recently proposed RoadFormer successfully extracts heterogeneous features from RGB images and surface normal maps and…

Ensuring validation for highly automated driving poses significant obstacles to the widespread adoption of highly automated vehicles. Scenario-based testing offers a potential solution by reducing the homologation effort required for these…

Multi-modal fusion has played a vital role in multi-modal scene understanding. Most existing methods focus on cross-modal fusion involving two modalities, often overlooking more complex multi-modal fusion, which is essential for real-world…

Driven by deep learning techniques, perception technology in autonomous driving has developed rapidly in recent years, enabling vehicles to accurately detect and interpret surrounding environment for safe and efficient navigation. To…

In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…

Semantic segmentation algorithms that can robustly segment objects across multiple camera viewpoints are crucial for assuring navigation and safety in emerging applications such as autonomous driving. Existing algorithms treat each image in…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

We tackle the panoptic segmentation problem with a conditional random field (CRF) model. Panoptic segmentation involves assigning a semantic label and an instance label to each pixel of a given image. At each pixel, the semantic label and…