相关论文: Learning Rich Features from RGB-D Images for Objec…

Most of the existing handcrafted and learning-based local descriptors are still at best approximately invariant to affine image transformations, often disregarding deformable surfaces. In this paper, we take one step further by proposing a…

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

In this paper, we propose an approach that exploits object segmentation in order to improve the accuracy of object detection. We frame the problem as inference in a Markov Random Field, in which each detection hypothesis scores object…

In this project, we propose a novel approach for estimating depth from RGB images. Traditionally, most work uses a single RGB image to estimate depth, which is inherently difficult and generally results in poor performance, even with…

In this paper, we tackle the problem of RGB-D semantic segmentation of indoor images. We take advantage of deconvolutional networks which can predict pixel-wise class labels, and develop a new structure for deconvolution of multiple…

We describe an approach to learning rich representations for images, that enables simple and effective predictors in a range of vision tasks involving spatially structured maps. Our key idea is to map small image elements to feature…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

This paper aims at developing a faster and a more accurate solution to the amodal 3D object detection problem for indoor scenes. It is achieved through a novel neural network that takes a pair of RGB-D images as the input and delivers…

Panoptic segmentation unifies semantic and instance segmentation and thus delivers a semantic class label and, for so-called thing classes, also an instance label per pixel. The differentiation of distinct objects of the same class with a…

Object detection in images has reached unprecedented performances. The state-of-the-art methods rely on deep architectures that extract salient features and predict bounding boxes enclosing the objects of interest. These methods essentially…

Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…

Recognizing objects and scenes are two challenging but essential tasks in image understanding. In particular, the use of RGB-D sensors in handling these tasks has emerged as an important area of focus for better visual understanding.…

Current successful approaches for generic (non-semantic) segmentation rely mostly on edge detection and have leveraged the strengths of deep learning mainly by improving the edge detection stage in the algorithmic pipeline. This is in…

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…

Object detection serves as a significant step in improving performance of complex downstream computer vision tasks. It has been extensively studied for many years now and current state-of-the-art 2D object detection techniques proffer…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…