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

Combining RGB images and the corresponding depth maps in semantic segmentation proves the effectiveness in the past few years. Existing RGB-D modal fusion methods either lack the non-linear feature fusion ability or treat both modal images…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

Pixelwise semantic image labeling is an important, yet challenging, task with many applications. Typical approaches to tackle this problem involve either the training of deep networks on vast amounts of images to directly infer the labels…

The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…

Neural field-based SLAM methods typically employ a single, monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a…

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…

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

We propose deep virtual markers, a framework for estimating dense and accurate positional information for various types of 3D data. We design a concept and construct a framework that maps 3D points of 3D articulated models, like humans,…

Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…

Multi-modal fusion has been proved to help enhance the performance of scene classification tasks. This paper presents a 2D-3D Fusion stage that combines 3D Geometric Features with 2D Texture Features obtained by 2D Convolutional Neural…

In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resolution intensity image. Our approach draws inspiration from…

The use of RGB-D information for salient object detection has been extensively explored in recent years. However, relatively few efforts have been put towards modeling salient object detection in real-world human activity scenes with RGBD.…

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,…

Leveraging neural implicit representation to conduct dense RGB-D SLAM has been studied in recent years. However, this approach relies on a static environment assumption and does not work robustly within a dynamic environment due to the…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…