相关论文: Reinforcement Learning for Semantic Segmentation i…

Semantic segmentation (i.e. image parsing) aims to annotate each image pixel with its corresponding semantic class label. Spatially consistent labeling of the image requires an accurate description and modeling of the local contextual…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Learning-based approaches for semantic segmentation have two inherent challenges. First, acquiring pixel-wise labels is expensive and time-consuming. Second, realistic segmentation datasets are highly unbalanced: some categories are much…

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…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

When approaching the semantic segmentation of overhead imagery in the decimeter spatial resolution range, successful strategies usually combine powerful methods to learn the visual appearance of the semantic classes (e.g. convolutional…

Exploiting multiple modalities for semantic scene parsing has been shown to improve accuracy over the singlemodality scenario. However multimodal datasets often suffer from problems such as data misalignment and label inconsistencies, where…

Reinforcement learning (RL) in 3D environments with high-dimensional sensory input poses two major challenges: (1) the high memory consumption induced by memory buffers required to stabilise learning, and (2) the complexity of learning in…

Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple…

Semantic segmentation is the task of assigning a class-label to each pixel in an image. We propose a region-based semantic segmentation framework which handles both full and weak supervision, and addresses three common problems: (1) Objects…

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…

Semantic labelling is highly correlated with geometry and radiance reconstruction, as scene entities with similar shape and appearance are more likely to come from similar classes. Recent implicit neural reconstruction techniques are…

Semantic segmentation models only perform well on the domain they are trained on and datasets for training are scarce and often have a small label-spaces, because the pixel level annotations required are expensive to make. Thus training…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…

This paper addresses the problem of holistic road scene understanding based on the integration of visual and range data. To achieve the grand goal, we propose an approach that jointly tackles object-level image segmentation and semantic…

Scene labeling is a challenging classification problem where each input image requires a pixel-level prediction map. Recently, deep-learning-based methods have shown their effectiveness on solving this problem. However, we argue that the…

Semantic scene segmentation plays a critical role in a wide range of robotics applications, e.g., autonomous navigation. These applications are accompanied by specific computational restrictions, e.g., operation on low-power GPUs, at…