相关论文: Incremental Class Discovery for Semantic Segmentat…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of…

We introduce 3D-SIS, a novel neural network architecture for 3D semantic instance segmentation in commodity RGB-D scans. The core idea of our method is to jointly learn from both geometric and color signal, thus enabling accurate instance…

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…

The field of continual deep learning is an emerging field and a lot of progress has been made. However, concurrently most of the approaches are only tested on the task of image classification, which is not relevant in the field of…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Semantic segmentation is a critical technique for effective scene understanding. Traditional RGB-T semantic segmentation models often struggle to generalize across diverse scenarios due to their reliance on pretrained models and predefined…

Learning-based approaches for semantic segmentation have two inherent challenges. First, acquiring pixel-wise labels is expensive and time-consuming. Second, realistic segmentation datasets are highly unbalanced: some categories are much…

Efficient RGB-D semantic segmentation has received considerable attention in mobile robots, which plays a vital role in analyzing and recognizing environmental information. According to previous studies, depth information can provide…

The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

Recent efforts in multi-domain learning for semantic segmentation attempt to learn multiple geographical datasets in a universal, joint model. A simple fine-tuning experiment performed sequentially on three popular road scene segmentation…

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…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

Interpreting camera data is key for autonomously acting systems, such as autonomous vehicles. Vision systems that operate in real-world environments must be able to understand their surroundings and need the ability to deal with novel…