相关论文: Movable-Object-Aware Visual SLAM via Weakly Superv…

Moving object segmentation is a crucial task for achieving a high-level understanding of visual scenes and has numerous downstream applications. Humans can effortlessly segment moving objects in videos. Previous work has largely relied on…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution…

Semantic segmentation is a core computer vision problem, but the high costs of data annotation have hindered its wide application. Weakly-Supervised Semantic Segmentation (WSSS) offers a cost-efficient workaround to extensive labeling in…

Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

Training a Fully Convolutional Network (FCN) for semantic segmentation requires a large number of masks with pixel level labelling, which involves a large amount of human labour and time for annotation. In contrast, web images and their…

The SLAM system based on static scene assumption will introduce huge estimation errors when moving objects appear in the field of view. This paper proposes a novel multi-object dynamic lidar odometry (MLO) based on semantic object detection…

Weakly supervised semantic segmentation (WSSS) aims at learning a semantic segmentation model with only image-level tags. Despite intensive research on deep learning approaches over a decade, there is still a significant performance gap…

We present a weakly supervised model that jointly performs both semantic- and instance-segmentation -- a particularly relevant problem given the substantial cost of obtaining pixel-perfect annotation for these tasks. In contrast to many…

Semantic segmentation is a crucial step in many Earth observation tasks. Large quantity of pixel-level annotation is required to train deep networks for semantic segmentation. Earth observation techniques are applied to varieties of…

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…

Image-level weakly supervised semantic segmentation is a challenging problem that has been deeply studied in recent years. Most of advanced solutions exploit class activation map (CAM). However, CAMs can hardly serve as the object mask due…

Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM…

In this paper, we propose a lightweight system, RDS-SLAM, based on ORB-SLAM2, which can accurately estimate poses and build semantic maps at object level for dynamic scenarios in real time using only one commonly used Intel Core i7 CPU. In…

Using deep learning, we now have the ability to create exceptionally good semantic segmentation systems; however, collecting the prerequisite pixel-wise annotations for training images remains expensive and time-consuming. Therefore, it…

Weakly-supervised semantic segmentation (WSSS) performs pixel-wise classification given only image-level labels for training. Despite the difficulty of this task, the research community has achieved promising results over the last five…

Deep neural networks usually require accurate and a large number of annotations to achieve outstanding performance in medical image segmentation. One-shot segmentation and weakly-supervised learning are promising research directions that…

Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…

Weakly supervised segmentation requires assigning a label to every pixel based on training instances with partial annotations such as image-level tags, object bounding boxes, labeled points and scribbles. This task is challenging, as coarse…