相关论文: Dense RGB-D semantic mapping with Pixel-Voxel neur…

We present a unified network for simultaneously generating videos and their corresponding entity segmentation and depth maps from text prompts. We utilize colormap to represent entity masks and depth maps, tightly integrating dense…

In this paper, we present a complete pipeline for 3D semantic mapping solely based on a stereo camera system. The pipeline comprises a direct sparse visual odometry front-end as well as a back-end for global optimization including GNSS…

Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

In recent years, sparse voxel-based methods have become the state-of-the-arts for 3D semantic segmentation of indoor scenes, thanks to the powerful 3D CNNs. Nevertheless, being oblivious to the underlying geometry, voxel-based methods…

Range-View(RV)-based 3D point cloud segmentation is widely adopted due to its compact data form. However, RV-based methods fall short in providing robust segmentation for the occluded points and suffer from distortion of projected RGB…

Semantic matching aims to establish pixel-level correspondences between instances of the same category and represents a fundamental task in computer vision. Existing approaches suffer from two limitations: (i) Geometric Ambiguity: Their…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

3D Gaussian Splatting has recently shown promising results as an alternative scene representation in SLAM systems to neural implicit representations. However, current methods either lack dense depth maps to supervise the mapping process or…

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…

A key proficiency an autonomous mobile robot must have to perform high-level tasks is a strong understanding of its environment. This involves information about what types of objects are present, where they are, what their spatial extend…

Real-time 3D reconstruction is crucial for robotics and augmented reality, yet current simultaneous localization and mapping(SLAM) approaches often struggle to maintain structural consistency and robust pose estimation in the presence of…

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…

This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments…

Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to…

Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…