相关论文: 3D Semantic Trajectory Reconstruction from 3D Pixe…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Semantic understanding of 3D objects is crucial in many applications such as object manipulation. However, it is hard to give a universal definition of point-level semantics that everyone would agree on. We observe that people have a…

Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The…

We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…

We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category using stereo video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

We propose a method to reconstruct global human trajectories from videos in the wild. Our optimization method decouples the camera and human motion, which allows us to place people in the same world coordinate frame. Most existing methods…

We propose an online 3D semantic segmentation method that incrementally reconstructs a 3D semantic map from a stream of RGB-D frames. Unlike offline methods, ours is directly applicable to scenarios with real-time constraints, such as…

Trajectory analysis is essential in many applications. In this paper, we address the problem of representing motion trajectories in a highly informative way, and consequently utilize it for analyzing trajectories. Our approach first…

We study analogical trajectory transfer, where the goal is to translate motion trajectories in one 3D environment to a semantically analogous location in another. Such a capacity would enable machines to perform analogical spatial…

Predicting where people can walk in a scene is important for many tasks, including autonomous driving systems and human behavior analysis. Yet learning a computational model for this purpose is challenging due to semantic ambiguity and a…

3D semantic maps have played an increasingly important role in high-precision robot localization and scene understanding. However, real-time construction of semantic maps requires mobile edge devices with extremely high computing power,…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

Finding correspondences between semantically similar points across images and object instances is one of the everlasting challenges in computer vision. While large pre-trained vision models have recently been demonstrated as effective…

This paper is a technical report about our submission for the ECCV 2018 3DRMS Workshop Challenge on Semantic 3D Reconstruction \cite{Tylecek2018rms}. In this paper, we address 3D semantic reconstruction for autonomous navigation using…

Accurately reconstructing human behavior in close-interaction scenarios is crucial for enabling realistic virtual interactions in augmented reality, precise motion analysis in sports, and natural collaborative behavior in human-robot tasks.…

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…

Human behavior is a continuous stochastic spatio-temporal process which is governed by semantic actions and affordances as well as latent factors. Therefore, video-based human activity modeling is concerned with a number of tasks such as…

This paper presents a new method for 3D action recognition with skeleton sequences (i.e., 3D trajectories of human skeleton joints). The proposed method first transforms each skeleton sequence into three clips each consisting of several…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…