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

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

Interactive segmentation has an important role in facilitating the annotation process of future LiDAR datasets. Existing approaches sequentially segment individual objects at each LiDAR scan, repeating the process throughout the entire…

In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance…

Real-time holistic scene understanding would allow machines to interpret their surrounding in a much more detailed manner than is currently possible. While panoptic image segmentation methods have brought image segmentation closer to this…

Deep learning architectures exhibit a critical drop of performance due to catastrophic forgetting when they are required to incrementally learn new tasks. Contemporary incremental learning frameworks focus on image classification and object…

Deep learning requires large amounts of training data to be effective. For the task of object segmentation, manually labeling data is very expensive, and hence interactive methods are needed. Following recent approaches, we develop an…

We introduce the task of dense captioning in 3D scans from commodity RGB-D sensors. As input, we assume a point cloud of a 3D scene; the expected output is the bounding boxes along with the descriptions for the underlying objects. To…

We propose a novel method for establishing correspondence between two sequences of 2D images. One particular application of this technique is slice-level content navigation, where the goal is to localize specific 2D slices within a 3D…

We present a robotic system for picking a target from a pile of objects that is capable of finding and grasping the target object by removing obstacles in the appropriate order. The fundamental idea is to segment instances with both visible…

Indoor service robots need perception that is robust, more privacy-friendly than RGB video, and feasible on embedded hardware. We present a camera-free 2D LiDAR object detection pipeline that encodes short-term temporal context by stacking…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…

Object detection and semantic segmentation are two main themes in object retrieval from high-resolution remote sensing images, which have recently achieved remarkable performance by surfing the wave of deep learning and, more notably,…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Self-supervised methods have shown remarkable progress in learning high-level semantics and low-level temporal correspondence. Building on these results, we take one step further and explore the possibility of integrating these two features…

We tackle the problem of image inpainting in the remote sensing domain. Remote sensing images possess high resolution and geographical variations, that render the conventional inpainting methods less effective. This further entails the…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…