相关论文: SceneCut: Joint Geometric and Object Segmentation …

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

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…

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…

Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a…

Analyzing scenes thoroughly is crucial for mobile robots acting in different environments. Semantic segmentation can enhance various subsequent tasks, such as (semantically assisted) person perception, (semantic) free space detection,…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification…

Recent advances in object segmentation have demonstrated that deep neural networks excel at object segmentation for specific classes in color and depth images. However, their performance is dictated by the number of classes and objects used…

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,…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…

Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…

We propose a simple yet effective method to learn to segment new indoor scenes from video frames: State-of-the-art methods trained on one dataset, even as large as the SUNRGB-D dataset, can perform poorly when applied to images that are not…

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

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…

Existing semantic segmentation approaches either aim to improve the object's inner consistency by modeling the global context, or refine objects detail along their boundaries by multi-scale feature fusion. In this paper, a new paradigm for…

In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…