相关论文: Fast and Accurate Semantic Mapping through Geometr…

In deep CNN based models for semantic segmentation, high accuracy relies on rich spatial context (large receptive fields) and fine spatial details (high resolution), both of which incur high computational costs. In this paper, we propose a…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

Pixel-wise clean annotation is necessary for fully-supervised semantic segmentation, which is laborious and expensive to obtain. In this paper, we propose a weakly supervised 2D semantic segmentation model by incorporating sparse bounding…

Simultaneous Localization and Mapping (SLAM) is a critical task that enables autonomous vehicles to construct maps and localize themselves in unknown environments. Recent breakthroughs combine SLAM with 3D Gaussian Splatting (3DGS) to…

This paper addresses fast semantic segmentation on video.Video segmentation often calls for real-time, or even fasterthan real-time, processing. One common recipe for conserving computation arising from feature extraction is to propagate…

High-resolution semantic segmentation requires substantial computational resources. Traditional approaches in the field typically downscale the input images before processing and then upscale the low-resolution outputs back to their…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

3D gaussian splatting has advanced simultaneous localization and mapping (SLAM) technology by enabling real-time positioning and the construction of high-fidelity maps. However, the uncertainty in gaussian position and initialization…

We propose in this article to build up a collaboration between a deep neural network and a human in the loop to swiftly obtain accurate segmentation maps of remote sensing images. In a nutshell, the agent iteratively interacts with the…

We present an efficient incremental SLAM back-end that achieves the accuracy of full batch optimization while substantially reducing computational cost. The proposed approach combines two complementary ideas: information-guided gating (IGG)…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be…

Semantic image segmentation is one of fastest growing areas in computer vision with a variety of applications. In many areas, such as robotics and autonomous vehicles, semantic image segmentation is crucial, since it provides the necessary…

In this work we propose a structured prediction technique that combines the virtues of Gaussian Conditional Random Fields (G-CRF) with Deep Learning: (a) our structured prediction task has a unique global optimum that is obtained exactly…

We propose an active learning approach to image segmentation that exploits geometric priors to speed up and streamline the annotation process. It can be applied for both background-foreground and multi-class segmentation tasks in 2D images…

Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…