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

This paper presents a real-time online vision framework to jointly recover an indoor scene's 3D structure and semantic label. Given noisy depth maps, a camera trajectory, and 2D semantic labels at train time, the proposed deep neural…

Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…

We propose a method for high-performance semantic image segmentation (or semantic pixel labelling) based on very deep residual networks, which achieves the state-of-the-art performance. A few design factors are carefully considered to this…

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

Grasp detection in cluttered scenes is a very challenging task for robots. Generating synthetic grasping data is a popular way to train and test grasp methods, as is Dex-net and GraspNet; yet, these methods generate training grasps on 3D…

For real-time semantic segmentation, how to increase the speed while maintaining high resolution is a problem that has been discussed and solved. Backbone design and fusion design have always been two essential parts of real-time semantic…

Large imbalance often exists between the foreground points (i.e., objects) and the background points in outdoor LiDAR point clouds. It hinders cutting-edge detectors from focusing on informative areas to produce accurate 3D object detection…

Systems which incrementally create 3D semantic maps from image sequences must store and update representations of both geometry and semantic entities. However, while there has been much work on the correct formulation for geometrical…

RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC…

For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. The majority of research to date has addressed these mapping…

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…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…

This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene…

Deep networks have brought significant advances in robot perception, enabling to improve the capabilities of robots in several visual tasks, ranging from object detection and recognition to pose estimation, semantic scene segmentation and…

Simultaneous Localization and Mapping (SLAM) has been crucial across various domains, including autonomous driving, mobile robotics, and mixed reality. Dense visual SLAM, leveraging RGB-D camera systems, offers advantages but faces…

Most existing RGB-D semantic segmentation methods focus on the feature level fusion, including complex cross-modality and cross-scale fusion modules. However, these methods may cause misalignment problem in the feature fusion process and…

Semantic segmentation is pixel-wise classification which retains critical spatial information. The "feature map reuse" has been commonly adopted in CNN based approaches to take advantage of feature maps in the early layers for the later…

Point clouds captured by different sensors such as RGB-D cameras and LiDAR possess non-negligible domain gaps. Most existing methods design different network architectures and train separately on point clouds from various sensors.…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…