相关论文: Fast Scene Understanding for Autonomous Driving

Real-time semantic segmentation plays an important role in practical applications such as self-driving and robots. Most semantic segmentation research focuses on improving estimation accuracy with little consideration on efficiency. Several…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

This paper addresses the task of semantic segmentation in computer vision, aiming to achieve precise pixel-wise classification. We investigate the joint training of models for semantic edge detection and semantic segmentation, which has…

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…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

In this paper, we propose an effective method for fast and accurate scene parsing called Bidirectional Alignment Network (BiAlignNet). Previously, one representative work BiSeNet~\cite{bisenet} uses two different paths (Context Path and…

Monocular depth estimation and semantic segmentation are two fundamental goals of scene understanding. Due to the advantages of task interaction, many works study the joint task learning algorithm. However, most existing methods fail to…

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

In recent years, how to strike a good trade-off between accuracy and inference speed has become the core issue for real-time semantic segmentation applications, which plays a vital role in real-world scenarios such as autonomous driving…

Semantic segmentation tasks based on weakly supervised condition have been put forward to achieve a lightweight labeling process. For simple images that only include a few categories, researches based on image-level annotations have…

Autonomous driving is a challenging topic that requires complex solutions in perception tasks such as recognition of road, lanes, traffic signs or lights, vehicles and pedestrians. Through years of research, computer vision has grown…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Recent success of semantic segmentation approaches on demanding road driving datasets has spurred interest in many related application fields. Many of these applications involve real-time prediction on mobile platforms such as cars, drones…

Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…

Assigning a label to each pixel in an image, namely semantic segmentation, has been an important task in computer vision, and has applications in autonomous driving, robotic navigation, localization, and scene understanding. Fully…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…