相关论文: Learned Semantic Multi-Sensor Depth Map Fusion

We propose a compact and effective framework to fuse multimodal features at multiple layers in a single network. The framework consists of two innovative fusion schemes. Firstly, unlike existing multimodal methods that necessitate…

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…

By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…

Semantic segmentation generates comprehensive understanding of scenes through densely predicting the category for each pixel. High-level features from Deep Convolutional Neural Networks already demonstrate their effectiveness in semantic…

While current multi-frame restoration methods combine information from multiple input images using 2D alignment techniques, recent advances in novel view synthesis are paving the way for a new paradigm relying on volumetric scene…

This research presents a novel depth estimation algorithm based on a Transformer-encoder architecture, tailored for the NYU and KITTI Depth Dataset. This research adopts a transformer model, initially renowned for its success in natural…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Volumetric models have become a popular representation for 3D scenes in recent years. One of the breakthroughs leading to their popularity was KinectFusion, where the focus is on 3D reconstruction using RGB-D sensors. However, monocular…

We propose a semantic similarity metric for image registration. Existing metrics like euclidean distance or normalized cross-correlation focus on aligning intensity values, giving difficulties with low intensity contrast or noise. Our…

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…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

Autonomous driving demands accurate perception and safe decision-making. To achieve this, automated vehicles are now equipped with multiple sensors (e.g., camera, Lidar, etc.), enabling them to exploit complementary environmental context by…

We present a new technique that achieves a significant reduction in the quantity of measurements required for a fusion based dense 3D mapping system to converge to an accurate, de-noised surface reconstruction. This is achieved through the…

Semantic segmentation of 3D meshes is an important problem for 3D scene understanding. In this paper we revisit the classic multiview representation of 3D meshes and study several techniques that make them effective for 3D semantic…

Deep learning approaches have shown promising performance for compressed sensing-based Magnetic Resonance Imaging. While deep neural networks trained with mean squared error (MSE) loss functions can achieve high peak signal to noise ratio,…

Human volumetric capture is a long-standing topic in computer vision and computer graphics. Although high-quality results can be achieved using sophisticated off-line systems, real-time human volumetric capture of complex scenarios,…

The classification of indoor scenes is a critical component in various applications, such as intelligent robotics for assistive living. While deep learning has significantly advanced this field, models often suffer from reduced performance…

Infrared and visible image fusion plays a vital role in the field of computer vision. Previous approaches make efforts to design various fusion rules in the loss functions. However, these experimental designed fusion rules make the methods…