相关论文: ClusterNet: 3D Instance Segmentation in RGB-D Imag…

Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…

Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…

As a proposal-free approach, instance segmentation through pixel embedding learning and clustering is gaining more emphasis. Compared with bounding box refinement approaches, such as Mask R-CNN, it has potential advantages in handling…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

This paper proposes a new framework for semantic segmentation of objects in videos. We address the label inconsistency problem of deep convolutional neural networks (DCNNs) by exploiting the fact that videos have multiple frames; in a few…

Efficient RGB-D semantic segmentation has received considerable attention in mobile robots, which plays a vital role in analyzing and recognizing environmental information. According to previous studies, depth information can provide…

Instance segmentation methods often require costly per-pixel labels. We propose a method that only requires point-level annotations. During training, the model only has access to a single pixel label per object, yet the task is to output…

This paper presents a method for automatic video object segmentation based on the fusion of motion stream, appearance stream, and instance-aware segmentation. The proposed scheme consists of a two-stream fusion network and an instance…

We present a new instance segmentation approach tailored to biological images, where instances may correspond to individual cells, organisms or plant parts. Unlike instance segmentation for user photographs or road scenes, in biological…

We address the problem of localizing waste objects from a color image and an optional depth image, which is a key perception component for robotic interaction with such objects. Specifically, our method integrates the intensity and depth…

Unsupervised 3D instance segmentation aims to segment objects from a 3D point cloud without any annotations. Existing methods face the challenge of either too loose or too tight clustering, leading to under-segmentation or…

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…

Object parsing -- the task of decomposing an object into its semantic parts -- has traditionally been formulated as a category-level segmentation problem. Consequently, when there are multiple objects in an image, current methods cannot…

We present a robotic system for picking a target from a pile of objects that is capable of finding and grasping the target object by removing obstacles in the appropriate order. The fundamental idea is to segment instances with both visible…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

Current advances in deep learning is leading to human-level accuracy in computer vision tasks such as object classification, localization, semantic segmentation, and instance segmentation. In this paper, we describe a new deep convolutional…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Automatic detection and segmentation of objects in 2D and 3D microscopy data is important for countless biomedical applications. In the natural image domain, spatial embedding-based instance segmentation methods are known to yield…

The emergence of RGB-D sensors offered new possibilities for addressing complex artificial vision problems efficiently. Human posture recognition is among these computer vision problems, with a wide range of applications such as ambient…