相关论文: Semantic Scene Completion from a Single Depth Imag…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

In this work we present FreDSNet, a deep learning solution which obtains semantic 3D understanding of indoor environments from single panoramas. Omnidirectional images reveal task-specific advantages when addressing scene understanding…

Perceiving the three-dimensional (3D) structure of the spacecraft is a prerequisite for successfully executing many on-orbit space missions, and it can provide critical input for many downstream vision algorithms. In this paper, we propose…

Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly been developed and limited to be task-specific. We introduce…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

Establishing semantic correspondence is a core problem in computer vision and remains challenging due to large intra-class variations and lack of annotated data. In this paper, we aim to incorporate global semantic context in a flexible…

Depth completion aims to recover dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent depth methods primarily focus on image guided learning frameworks. However, blurry guidance in the image…

Due to the aged nature of much of the utility network infrastructure, developing a robust and trustworthy computer vision system capable of inspecting it with minimal human intervention has attracted considerable research attention. The…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

In this paper, we introduce the Selective Image Guided Network (SigNet), a novel degradation-aware framework that transforms depth completion into depth enhancement for the first time. Moving beyond direct completion using convolutional…

3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a dense segmentation task, independently classifying each…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

Deep learning techniques have led to remarkable breakthroughs in the field of generic object detection and have spawned a lot of scene-understanding tasks in recent years. Scene graph has been the focus of research because of its powerful…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

We address the problem of semantic correspondence, that is, establishing a dense flow field between images depicting different instances of the same object or scene category. We propose to use images annotated with binary foreground masks…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…