相关论文: Joint 2D-3D-Semantic Data for Indoor Scene Underst…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

3D semantic occupancy prediction in the past was considered to require precise geometric relationships in order to enable effective training. However, in complex indoor environments, the large-scale and widespread collection of data, along…

Significant progress has been made in photo-realistic scene reconstruction over recent years. Various disparate efforts have enabled capabilities such as multi-appearance or large-scale modeling; however, there lacks a welldesigned dataset…

RGBD images with high quality annotations in the form of geometric (i.e., segmentation) and structural (i.e., how do the segments are mutually related in 3D) information provide valuable priors to a large number of scene and image…

In this paper, we introduce the InLUT3D point cloud dataset, a comprehensive resource designed to advance the field of scene understanding in indoor environments. The dataset covers diverse spaces within the W7 faculty buildings of Lodz…

We propose a method for annotating videos of complex multi-object scenes with a globally-consistent 3D representation of the objects. We annotate each object with a CAD model from a database, and place it in the 3D coordinate frame of the…

Traditional approaches for learning 3D object categories have been predominantly trained and evaluated on synthetic datasets due to the unavailability of real 3D-annotated category-centric data. Our main goal is to facilitate advances in…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Image summary, an abridged version of the original visual content, can be used to represent the scene. Thus, tasks such as scene classification, identification, indexing, etc., can be performed efficiently using the unique summary. Saliency…

Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth…

For the last few decades, several major subfields of artificial intelligence including computer vision, graphics, and robotics have progressed largely independently from each other. Recently, however, the community has realized that…

While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera. In this work, we present a dataset of 32 scenes that have been…

Compared with an extensive list of automotive radar datasets that support autonomous driving, indoor radar datasets are scarce at a smaller scale in the format of low-resolution radar point clouds and usually under an open-space single-room…

Accurate hand pose estimation at joint level has several uses on human-robot interaction, user interfacing and virtual reality applications. Yet, it currently is not a solved problem. The novel deep learning techniques could make a great…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

Semantic segmentation of drone images is critical for various aerial vision tasks as it provides essential semantic details to understand scenes on the ground. Ensuring high accuracy of semantic segmentation models for drones requires…

Advances in neural fields are enabling high-fidelity capture of the shape and appearance of dynamic 3D scenes. However, their capabilities lag behind those offered by conventional representations such as 2D videos because of algorithmic…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…