相关论文: Rescan: Inductive Instance Segmentation for Indoor…

Indoor environments evolve as objects move, appear, or leave the scene. Capturing these dynamics requires maintaining temporally consistent instance identities across intermittently captured 3D scans, even when changes are unobserved. We…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

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…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

We present a recurrent model for semantic instance segmentation that sequentially generates binary masks and their associated class probabilities for every object in an image. Our proposed system is trainable end-to-end from an input image…

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…

Instance segmentation is a computer vision task where separate objects in an image are detected and segmented. State-of-the-art deep neural network models require large amounts of labeled data in order to perform well in this task. Making…

Instance segmentation of remote sensing images (RSIs) is an essential task for a wide range of applications such as land planning and intelligent transport. Instance segmentation of RSIs is constantly plagued by the unbalanced ratio of…

We propose a new and, arguably, a very simple reduction of instance segmentation to semantic segmentation. This reduction allows to train feed-forward non-recurrent deep instance segmentation systems in an end-to-end fashion using…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Automotive radar provides reliable environmental perception in all-weather conditions with affordable cost, but it hardly supplies semantic and geometry information due to the sparsity of radar detection points. With the development of…

We propose an online 3D semantic segmentation method that incrementally reconstructs a 3D semantic map from a stream of RGB-D frames. Unlike offline methods, ours is directly applicable to scenarios with real-time constraints, such as…

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…

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…

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification…