相关论文: Future Segmentation Using 3D Structure

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely reactive planning in crowded scenes. Maps of Dynamics (MoDs)…

This paper presents a novel approach for segmenting moving objects in unconstrained environments using guided convolutional neural networks. This guiding process relies on foreground masks from independent algorithms (i.e. state-of-the-art…

Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by…

Recent years have seen remarkable progress in semantic segmentation. Yet, it remains a challenging task to apply segmentation techniques to video-based applications. Specifically, the high throughput of video streams, the sheer cost of…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

Learning robust 3D shape segmentation functions with deep neural networks has emerged as a powerful paradigm, offering promising performance in producing a consistent part segmentation of each 3D shape. Generalizing across 3D shape…

Recent advances in deep learning for edge detection and segmentation opens up a new path for semantic-edge-based ego-motion estimation. In this work, we propose a robust monocular visual odometry (VO) framework using category-aware semantic…

For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include…

Recent work in unsupervised multi-object segmentation shows impressive results by predicting motion from a single image despite the inherent ambiguity in predicting motion without the next image. On the other hand, the set of possible…

Understanding how the 3D scene evolves is vital for making decisions in autonomous driving. Most existing methods achieve this by predicting the movements of object boxes, which cannot capture more fine-grained scene information. In this…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

We present a framework for efficient inference in structured image models that explicitly reason about objects. We achieve this by performing probabilistic inference using a recurrent neural network that attends to scene elements and…

Existing semantic segmentation approaches either aim to improve the object's inner consistency by modeling the global context, or refine objects detail along their boundaries by multi-scale feature fusion. In this paper, a new paradigm for…

While stochastic video prediction models enable future prediction under uncertainty, they mostly fail to model the complex dynamics of real-world scenes. For example, they cannot provide reliable predictions for scenes with a moving camera…

As the demand for analyzing egocentric videos grows, egocentric visual attention prediction, anticipating where a camera wearer will attend, has garnered increasing attention. However, it remains challenging due to the inherent complexity…