相关论文: 3D-SIS: 3D Semantic Instance Segmentation of RGB-D…

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…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

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…

Existing 3D semantic segmentation methods rely on point-wise or voxel-wise feature descriptors to output segmentation predictions. However, these descriptors are often supervised at point or voxel level, leading to segmentation models that…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

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,…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Indoor environments evolve as objects move, appear, or leave the scene. Capturing these dynamics requires maintaining temporally consistent instance identities across intermittently captured 3D scans, even when changes are unobserved. We…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

3D scene understanding has become an essential area of research with applications in autonomous driving, robotics, and augmented reality. Recently, 3D Gaussian Splatting (3DGS) has emerged as a powerful approach, combining explicit modeling…

Advancements in 3D instance segmentation have traditionally been tethered to the availability of annotated datasets, limiting their application to a narrow spectrum of object categories. Recent efforts have sought to harness vision-language…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

We present a novel 3D instance segmentation framework for Multi-View Stereo (MVS) buildings in urban scenes. Unlike existing works focusing on semantic segmentation of urban scenes, the emphasis of this work lies in detecting and segmenting…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

We aim to detect all instances of a category in an image and, for each instance, mark the pixels that belong to it. We call this task Simultaneous Detection and Segmentation (SDS). Unlike classical bounding box detection, SDS requires a…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…