相关论文: Volume-based Semantic Labeling with Signed Distanc…

We consider the problem of naming objects in complex, natural scenes containing widely varying object appearance and subtly different names. Informed by cognitive research, we propose an approach based on sharing context based object…

Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…

As a fundamental task in computer vision, semantic segmentation is widely applied in fields such as autonomous driving, remote sensing image analysis, and medical image processing. In recent years, Transformer-based segmentation methods…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. Here, we propose a UAV system for…

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

The goal of our work is to perform pixel label semantic segmentation on 3D biomedical volumetric data. Manual annotation is always difficult for a large bio-medical dataset. So, we consider two cases where one dataset is fully labeled and…

We propose GeoFusion, a SLAM-based scene estimation method for building an object-level semantic map in dense clutter. In dense clutter, objects are often in close contact and severe occlusions, which brings more false detections and noisy…

Deep learning (DL) approaches are state-of-the-art for many medical image segmentation tasks. They offer a number of advantages: they can be trained for specific tasks, computations are fast at test time, and segmentation quality is…

Simultaneous Localization and Mapping (SLAM) is a foundational component in robotics, AR/VR, and autonomous systems. With the rising focus on spatial AI in recent years, combining SLAM with semantic understanding has become increasingly…

We propose Semantic-Fast-SAM (SFS), a semantic segmentation framework that combines the Fast Segment Anything model with a semantic labeling pipeline to achieve real-time performance without sacrificing accuracy. FastSAM is an efficient…

In this paper we present a complete SLAM system for RGB-D cameras, namely RGB-iD SLAM. The presented approach is a dense direct SLAM method with the main characteristic of working with the depth maps in inverse depth parametrisation for the…

In this paper, a novel label fusion method is proposed for brain magnetic resonance image segmentation. This label fusion method is formulated on a graph, which embraces both label priors from atlases and anatomical priors from target…

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…

Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorithms by attaching semantics to locations. The system…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…

In this work, we investigate various methods to deal with semantic labeling of very high resolution multi-modal remote sensing data. Especially, we study how deep fully convolutional networks can be adapted to deal with multi-modal and…

Vision-based perception and reasoning is essential for scene understanding in any autonomous system. RGB and depth images are commonly used to capture both the semantic and geometric features of the environment. Developing methods to…