相关论文: EdgeNet: Semantic Scene Completion from a Single R…

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

We propose a method to reconstruct, complete and semantically label a 3D scene from a single input depth image. We improve the accuracy of the regressed semantic 3D maps by a novel architecture based on adversarial learning. In particular,…

We introduce a View-Volume convolutional neural network (VVNet) for inferring the occupancy and semantic labels of a volumetric 3D scene from a single depth image. The VVNet concatenates a 2D view CNN and a 3D volume CNN with a…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models…

Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. It helps intelligent devices to understand and interact with the surrounding scenes. Due to the high-memory…

We introduce ScanComplete, a novel data-driven approach for taking an incomplete 3D scan of a scene as input and predicting a complete 3D model along with per-voxel semantic labels. The key contribution of our method is its ability to…

Estimating scene flow in RGB-D videos is attracting much interest of the computer vision researchers, due to its potential applications in robotics. The state-of-the-art techniques for scene flow estimation, typically rely on the knowledge…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. In this paper, we propose a real-time semantic scene completion method with a feature aggregation strategy and…

We achieve 3D semantic scene labeling by exploring semantic relation between each point and its contextual neighbors through edges. Besides an encoder-decoder branch for predicting point labels, we construct an edge branch to hierarchically…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

Semantic segmentation and semantic edge detection can be seen as two dual problems with close relationships in computer vision. Despite the fast evolution of learning-based 3D semantic segmentation methods, little attention has been drawn…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…