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

Instance Segmentation, which seeks to obtain both class and instance labels for each pixel in the input image, is a challenging task in computer vision. State-of-the-art algorithms often employ two separate stages, the first one generating…

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…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

Various works have aimed at combining the inference efficiency of recurrent models and training parallelism of multi-head attention for sequence modeling. However, most of these works focus on tasks with fixed-dimension observation spaces,…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

Instance segmentation is a problem of significance in computer vision. However, preparing annotated data for this task is extremely time-consuming and costly. By combining the advantages of 3D scanning, reasoning, and GAN-based domain…

Semantic segmentation and object detection research have recently achieved rapid progress. However, the former task has no notion of different instances of the same object, and the latter operates at a coarse, bounding-box level. We propose…

Instance segmentation is the problem of detecting and delineating each distinct object of interest appearing in an image. Current instance segmentation approaches consist of ensembles of modules that are trained independently of each other,…

We propose a novel approach for automatic extraction (instance segmentation) of fibers from low resolution 3D X-ray computed tomography scans of short glass fiber reinforced polymers. We have designed a 3D instance segmentation architecture…

Object detection and instance segmentation are two fundamental computer vision tasks. They are closely correlated but their relations have not yet been fully explored in most previous work. This paper presents RDSNet, a novel deep…

In this paper, we propose a conceptually novel, efficient, and fully convolutional framework for real-time instance segmentation. Previously, most instance segmentation methods heavily rely on object detection and perform mask prediction…

Online, real-time, and fine-grained 3D segmentation constitutes a fundamental capability for embodied intelligent agents to perceive and comprehend their operational environments. Recent advancements employ predefined object queries to…

Traditionally, algorithms that learn to segment object instances in 2D images have heavily relied on large amounts of human-annotated data. Only recently, novel approaches have emerged tackling this problem in an unsupervised fashion.…

In the last few years, there has been a growing interest in taking advantage of the 360 panoramic images potential, while managing the new challenges they imply. While several tasks have been improved thanks to the contextual information…

Instance segmentation is one of the actively studied research topics in computer vision in which many objects of interest should be separated individually. While many feed-forward networks produce high-quality segmentation on different…

As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…

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…

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…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

3D instance segmentation is fundamental to geometric understanding of the world around us. Existing methods for instance segmentation of 3D scenes rely on supervision from expensive, manual 3D annotations. We propose UnScene3D, the first…