相关论文: Incremental Class Discovery for Semantic Segmentat…

Incremental semantic segmentation aims to continually learn the segmentation of new coming classes without accessing the training data of previously learned classes. However, most current methods fail to address catastrophic forgetting and…

The task of Novel Class Discovery (NCD) in semantic segmentation entails training a model able to accurately segment unlabelled (novel) classes, relying on the available supervision from annotated (base) classes. Although extensively…

Collecting diverse sets of training images for RGB-D semantic image segmentation is not always possible. In particular, when robots need to operate in privacy-sensitive areas like homes, the collection is often limited to a small set of…

Semantic segmentation, which refers to pixel-wise classification of an image, is a fundamental topic in computer vision owing to its growing importance in robot vision and autonomous driving industries. It provides rich information about…

Panoptic segmentation unifies semantic and instance segmentation and thus delivers a semantic class label and, for so-called thing classes, also an instance label per pixel. The differentiation of distinct objects of the same class with a…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Deep neural networks have enabled major progresses in semantic segmentation. However, even the most advanced neural architectures suffer from important limitations. First, they are vulnerable to catastrophic forgetting, i.e. they perform…

Convolutional neural networks have become state-of-the-art in a wide range of image recognition tasks. The interpretation of their predictions, however, is an active area of research. Whereas various interpretation methods have been…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

The state-of-the-art object detection and image classification methods can perform impressively on more than 9k and 10k classes, respectively. In contrast, the number of classes in semantic segmentation datasets is relatively limited. This…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

Semantic segmentation is a powerful method to facilitate visual scene understanding. Each pixel is assigned a label according to a pre-defined list of object classes and semantic entities. This becomes very useful as a means to summarize…

This paper proposes a new active learning method for semantic segmentation. The core of our method lies in a new annotation query design. It samples informative local image regions (e.g., superpixels), and for each of such regions, asks an…

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…

Current successful approaches for generic (non-semantic) segmentation rely mostly on edge detection and have leveraged the strengths of deep learning mainly by improving the edge detection stage in the algorithmic pipeline. This is in…

Incremental learning of semantic segmentation has emerged as a promising strategy for visual scene interpretation in the open- world setting. However, it remains challenging to acquire novel classes in an online fashion for the segmentation…

We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene. Our system detects, segments and assigns semantic class labels to…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…