相关论文: Adversarial Semantic Scene Completion from a Singl…

In many robotic applications, especially for the autonomous driving, understanding the semantic information and the geometric structure of surroundings are both essential. Semantic 3D maps, as a carrier of the environmental knowledge, are…

Volumetric depth map fusion based on truncated signed distance functions has become a standard method and is used in many 3D reconstruction pipelines. In this paper, we are generalizing this classic method in multiple ways: 1) Semantics:…

Semantic scene completion is the task of producing a complete 3D voxel representation of volumetric occupancy with semantic labels for a scene from a single-view observation. We built upon the recent work of Song et al. (CVPR 2017), who…

Semantic Scene Completion (SSC) transforms an image of single-view depth and/or RGB 2D pixels into 3D voxels, each of whose semantic labels are predicted. SSC is a well-known ill-posed problem as the prediction model has to "imagine" what…

The vulnerability of deep neural networks to adversarial attacks has been widely demonstrated (e.g., adversarial example attacks). Traditional attacks perform unstructured pixel-wise perturbation to fool the classifier. An alternative…

Dense depth estimation and 3D reconstruction of a surgical scene are crucial steps in computer assisted surgery. Recent work has shown that depth estimation from a stereo images pair could be solved with convolutional neural networks.…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

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…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

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…

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…

Reconstructing 3D shapes from a single image plays an important role in computer vision. Many methods have been proposed and achieve impressive performance. However, existing methods mainly focus on extracting semantic information from…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

Semantic scene completion (SSC) aims to infer both the 3D geometry and semantics of a scene from single images. In contrast to prior work on SSC that heavily relies on expensive ground-truth annotations, we approach SSC in an unsupervised…

This paper presents a novel method to deal with the challenging task of generating photographic images conditioned on semantic image descriptions. Our method introduces accompanying hierarchical-nested adversarial objectives inside the…

We present a method for creating 3D indoor scenes with a generative model learned from a collection of semantic-segmented depth images captured from different unknown scenes. Given a room with a specified size, our method automatically…

Recently, a multitude of methods for image-to-image translation have demonstrated impressive results on problems such as multi-domain or multi-attribute transfer. The vast majority of such works leverages the strengths of adversarial…