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

There are many approaches to weakly-supervised training of networks to segment 2D images. By contrast, existing approaches to segmenting volumetric images rely on full-supervision of a subset of 2D slices of the 3D volume. We propose an…

We consider the task of learning a classifier for semantic segmentation using weak supervision in the form of image labels which specify the object classes present in the image. Our method uses deep convolutional neural networks (CNNs) and…

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…

Weakly supervised object localization (WSOL) strives to learn to localize objects with only image-level supervision. Due to the local receptive fields generated by convolution operations, previous CNN-based methods suffer from partial…

Weakly supervised object localization (WSOL) is a challenging problem when given image category labels but requires to learn object localization models. Optimizing a convolutional neural network (CNN) for classification tends to activate…

The Segmentation Anything Model 2 (SAM2) has proven to be a powerful foundation model for promptable visual object segmentation in both images and videos, capable of storing object-aware memories and transferring them temporally through…

This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…

Human motion capture data has been widely used in data-driven character animation. In order to generate realistic, natural-looking motions, most data-driven approaches require considerable efforts of pre-processing, including motion…

Exploring an unfamiliar indoor environment and avoiding obstacles is challenging for visually impaired people. Currently, several approaches achieve the avoidance of static obstacles based on the mapping of indoor scenes. To solve the issue…

This work addresses weakly-supervised image semantic segmentation based on image-level class labels. One common approach to this task is to propagate the activation scores of Class Activation Maps (CAMs) using a random-walk mechanism in…

Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most existing approaches rely on RGB-D sensors or monocular views,…

Pixel-level annotations are expensive and time consuming to obtain. Hence, weak supervision using only image tags could have a significant impact in semantic segmentation. Recently, CNN-based methods have proposed to fine-tune pre-trained…

We propose a new approach to learn to segment multiple image objects without manual supervision. The method can extract objects form still images, but uses videos for supervision. While prior works have considered motion for segmentation, a…

The costly process of obtaining semantic segmentation labels has driven research towards weakly supervised semantic segmentation (WSSS) methods, using only image-level, point, or box labels. The lack of dense scene representation requires…

The dynamic factors in the environment will lead to the decline of camera localization accuracy due to the violation of the static environment assumption of SLAM algorithm. Recently, some related works generally use the combination of…

We propose an approach to semantic segmentation that achieves state-of-the-art supervised performance when applied in a zero-shot setting. It thus achieves results equivalent to those of the supervised methods, on each of the major semantic…

Research works on the two topics of Semantic Segmentation and SLAM (Simultaneous Localization and Mapping) have been following separate tracks. Here, we link them quite tightly by delineating a category label fusion technique that allows…

This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruction. Previous dynamic SLAM methods either rely on semantic…

Referring video object segmentation (RVOS) is a task that aims to segment the target object in all video frames based on a sentence describing the object. Although existing RVOS methods have achieved significant performance, they depend on…

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…