相关论文: Semantic Segmentation from Limited Training Data

Interpreting camera data is key for autonomously acting systems, such as autonomous vehicles. Vision systems that operate in real-world environments must be able to understand their surroundings and need the ability to deal with novel…

Sensing surroundings plays a crucial role in human spatial perception, as it extracts the spatial configuration of objects as well as the free space from the observations. To facilitate the robot perception with such a surrounding sensing…

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…

Semantic segmentation has been widely investigated in the community, in which the state of the art techniques are based on supervised models. Those models have reported unprecedented performance at the cost of requiring a large set of high…

The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…

Most cognitive architectures rely on discrete representation, both in space (e.g., objects) and in time (e.g., events). However, a robot interaction with the world is inherently continuous, both in space and in time. The segmentation of the…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by…

Existing works on semantic segmentation typically consider a small number of labels, ranging from tens to a few hundreds. With a large number of labels, training and evaluation of such task become extremely challenging due to correlation…

Semantic segmentation is a key computer vision task that has been actively researched for decades. In recent years, supervised methods have reached unprecedented accuracy, however they require many pixel-level annotations for every new…

Semantic segmentation in autonomous driving predominantly focuses on learning from large-scale data with a closed set of known classes without considering unknown objects. Motivated by safety reasons, we address the video class agnostic…

In this paper we address three different aspects of semantic segmentation from remote sensor data using deep neural networks. Firstly, we focus on the semantic segmentation of buildings from remote sensor data and propose ICT-Net. The…

Almost all existing deep learning approaches for semantic segmentation tackle this task as a pixel-wise classification problem. Yet humans understand a scene not in terms of pixels, but by decomposing it into perceptual groups and…

The ability to understand visual information from limited labeled data is an important aspect of machine learning. While image-level classification has been extensively studied in a semi-supervised setting, dense pixel-level classification…

Semantic segmentation approaches are typically trained on large-scale data with a closed finite set of known classes without considering unknown objects. In certain safety-critical robotics applications, especially autonomous driving, it is…

Robot warehouse automation has attracted significant interest in recent years, perhaps most visibly in the Amazon Picking Challenge (APC). A fully autonomous warehouse pick-and-place system requires robust vision that reliably recognizes…

Semantic segmentation is a crucial component for perception in automated driving. Deep neural networks (DNNs) are commonly used for this task and they are usually trained on a closed set of object classes appearing in a closed operational…

In this work we address the task of segmenting an object into its parts, or semantic part segmentation. We start by adapting a state-of-the-art semantic segmentation system to this task, and show that a combination of a fully-convolutional…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

Autonomous vehicles are the next revolution in the automobile industry and they are expected to revolutionize the future of transportation. Understanding the scenario in which the autonomous vehicle will operate is critical for its…