相关论文: Efficient Hierarchical Graph-Based Segmentation of…

We propose a novel 3D segmentation method for RBGD stream data to deal with 3D object segmentation task in a generic scenario with frequent object interactions. It mainly contributes in two aspects, while being generic and not requiring…

Hypergraph spectral analysis has emerged as an effective tool processing complex data structures in data analysis. The surface of a three-dimensional (3D) point cloud and the multilateral relationship among their points can be naturally…

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large…

Recent developments in the 3D scanning technologies have made the generation of highly accurate 3D point clouds relatively easy but the segmentation of these point clouds remains a challenging area. A number of techniques have set precedent…

Reliable 3D segmentation is critical for understanding complex scenes with dense layouts and multi-scale objects, as commonly seen in industrial environments. In such scenarios, heavy occlusion weakens geometric boundaries between objects,…

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…

Despite recent advances in video segmentation, many opportunities remain to improve it using a variety of low and mid-level visual cues. We propose improvements to the leading streaming graph-based hierarchical video segmentation…

Many approaches to 3D image segmentation are based on hierarchical clustering of supervoxels into image regions. Here we describe a distributed algorithm capable of handling a tremendous number of supervoxels. The algorithm works…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

3D reconstruction from images is a core problem in computer vision. With recent advances in deep learning, it has become possible to recover plausible 3D shapes even from single RGB images for the first time. However, obtaining detailed…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

This paper aims at developing a faster and a more accurate solution to the amodal 3D object detection problem for indoor scenes. It is achieved through a novel neural network that takes a pair of RGB-D images as the input and delivers…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

Over-segmentation, or super-pixel generation, is a common preliminary stage for many computer vision applications. New acquisition technologies enable the capturing of 3D point clouds that contain color and geometrical information. This 3D…

Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…

We propose a novel superpixel-based multi-view convolutional neural network for semantic image segmentation. The proposed network produces a high quality segmentation of a single image by leveraging information from additional views of the…

We present a method for temporally consistent motion segmentation from RGB-D videos assuming a piecewise rigid motion model. We formulate global energies over entire RGB-D sequences in terms of the segmentation of each frame into a number…

The RGB-Depth (RGB-D) Video Object Segmentation (VOS) aims to integrate the fine-grained texture information of RGB with the spatial geometric clues of depth modality, boosting the performance of segmentation. However, off-the-shelf RGB-D…