相关论文: 3D Scene Parsing via Class-Wise Adaptation

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Convolutional neural network (CNN) has achieved state-of-the-art performance in many different visual tasks. Learned from a large-scale training dataset, CNN features are much more discriminative and accurate than the hand-crafted features.…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

In this paper, we present a robust method for scene recognition, which leverages Convolutional Neural Networks (CNNs) features and Sparse Coding setting by creating a new representation of indoor scenes. Although CNNs highly benefited the…

Semantic segmentation is a critical task in computer vision aiming to identify and classify individual pixels in an image, with numerous applications in for example autonomous driving and medical image analysis. However, semantic…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Scene parsing is a technique that consist on giving a label to all pixels in an image according to the class they belong to. To ensure a good visual coherence and a high class accuracy, it is essential for a scene parser to capture image…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Convolutional networks are the de-facto standard for analyzing spatio-temporal data such as images, videos, and 3D shapes. Whilst some of this data is naturally dense (e.g., photos), many other data sources are inherently sparse. Examples…

Attention models have recently emerged as a powerful approach, demonstrating significant progress in various fields. Visualization techniques, such as class activation mapping, provide visual insights into the reasoning of convolutional…

Real-world 3D scene-level scans offer realism and can enable better real-world generalizability for downstream applications. However, challenges such as data volume, diverse annotation formats, and tool compatibility limit their use. This…

Deep learning generates state-of-the-art semantic segmentation provided that a large number of images together with pixel-wise annotations are available. To alleviate the expensive data collection process, we propose a semi-supervised…

Deep-learning models for 3D point cloud semantic segmentation exhibit limited generalization capabilities when trained and tested on data captured with different sensors or in varying environments due to domain shift. Domain adaptation…

Current successful methods of 3D scene perception rely on the large-scale annotated point cloud, which is tedious and expensive to acquire. In this paper, we propose Model2Scene, a novel paradigm that learns free 3D scene representation…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

We pose 3D scene-understanding as a problem of parsing in a grammar. A grammar helps us capture the compositional structure of real-word objects, e.g., a chair is composed of a seat, a back-rest and some legs. Having multiple rules for an…

Recent progress of self-supervised visual representation learning has achieved remarkable success on many challenging computer vision benchmarks. However, whether these techniques can be used for domain adaptation has not been explored. In…

Face parsing is an important problem in computer vision that finds numerous applications including recognition and editing. Recently, deep convolutional neural networks (CNNs) have been applied to image parsing and segmentation with the…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…