相关论文: Semantic Mapping with Simultaneous Object Detectio…

Object detection is a fundamental task in computer vision and has many applications in image processing. This paper proposes a new approach for object detection by applying scale invariant feature transform (SIFT) in an automatic…

Traditional semantic image search methods aim to retrieve images that match the meaning of the text query. However, these methods typically search for objects on the whole image, without considering the localization of objects within the…

Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…

Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location…

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…

Important high-level vision tasks such as human-object interaction, image captioning and robotic manipulation require rich semantic descriptions of objects at part level. Based upon previous work on part localization, in this paper, we…

As a cost-effective and robust technology, automotive radar has seen steady improvement during the last years, making it an appealing complement to commonly used sensors like camera and LiDAR in autonomous driving. Radio frequency data with…

Accurate and reliable localization is a fundamental requirement for autonomous vehicles to use map information in higher-level tasks such as navigation or planning. In this paper, we present a novel approach to vehicle localization in dense…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…

Underwater object-level mapping requires incorporating visual foundation models to handle the uncommon and often previously unseen object classes encountered in marine scenarios. In this work, a metric of semantic uncertainty for open-set…

Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Change detection in remote sensing imagery is essential for a variety of applications such as urban planning, disaster management, and climate research. However, existing methods for identifying semantically changed areas overlook the…

Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Exploiting multiple modalities for semantic scene parsing has been shown to improve accuracy over the singlemodality scenario. However multimodal datasets often suffer from problems such as data misalignment and label inconsistencies, where…

This paper reports on a dynamic semantic mapping framework that incorporates 3D scene flow measurements into a closed-form Bayesian inference model. Existence of dynamic objects in the environment can cause artifacts and traces in current…