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

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection,…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

In design of instance segmentation networks that reconstruct masks, segmentation is often taken as its literal definition -- assigning each pixel a label. This has led to thinking the problem as a template matching one with the goal of…

Exploring an unfamiliar indoor environment and avoiding obstacles is challenging for visually impaired people. Currently, several approaches achieve the avoidance of static obstacles based on the mapping of indoor scenes. To solve the issue…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

We propose a deep learning-based framework for instance-level object segmentation. Our method mainly consists of three steps. First, We train a generic model based on ResNet-101 for foreground/background segmentations. Second, based on this…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…

Precise segmentation and anatomical identification of the vertebrae provides the basis for automatic analysis of the spine, such as detection of vertebral compression fractures or other abnormalities. Most dedicated spine CT and MR scans as…

We propose a novel guided interactive segmentation (GIS) algorithm for video objects to improve the segmentation accuracy and reduce the interaction time. First, we design the reliability-based attention module to analyze the reliability of…

We propose Scan2Part, a method to segment individual parts of objects in real-world, noisy indoor RGB-D scans. To this end, we vary the part hierarchies of objects in indoor scenes and explore their effect on scene understanding models.…

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

Many research works focus on leveraging the complementary geometric information of indoor depth sensors in vision tasks performed by deep convolutional neural networks, notably semantic segmentation. These works deal with a specific vision…

In this paper, we propose an approach that exploits object segmentation in order to improve the accuracy of object detection. We frame the problem as inference in a Markov Random Field, in which each detection hypothesis scores object…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

In this contribution, a semi-automatic segmentation algorithm for (medical) image analysis is presented. More precise, the approach belongs to the category of interactive contouring algorithms, which provide real-time feedback of the…

In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…