相关论文: Real-Time Semantic Stereo Matching

Due to the high inter-class similarity caused by the complex composition and the co-existing objects across scenes, numerous studies have explored object semantic knowledge within scenes to improve scene recognition. However, a resulting…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Deep neural networks have shown excellent performance in stereo matching task. Recently CNN-based methods have shown that stereo matching can be formulated as a supervised learning task. However, less attention is paid on the fusion of…

This paper presents StereoNet, the first end-to-end deep architecture for real-time stereo matching that runs at 60 fps on an NVidia Titan X, producing high-quality, edge-preserved, quantization-free disparity maps. A key insight of this…

Recent methods in stereo matching have continuously improved the accuracy using deep models. This gain, however, is attained with a high increase in computation cost, such that the network may not fit even on a moderate GPU. This issue…

Efficient yet accurate extraction of depth from stereo image pairs is required by systems with low power resources, such as robotics and embedded systems. State-of-the-art stereo matching methods based on convolutional neural networks…

The stereo-matching problem, i.e., matching corresponding features in two different views to reconstruct depth, is efficiently solved in biology. Yet, it remains the computational bottleneck for classical machine vision approaches. By…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is…

Semantic segmentation and stereo matching, respectively analogous to the ventral and dorsal streams in our human brain, are two key components of autonomous driving perception systems. Addressing these two tasks with separate networks is no…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

Scene text image contains two levels of contents: visual texture and semantic information. Although the previous scene text recognition methods have made great progress over the past few years, the research on mining semantic information to…

Stereo matching and flow estimation are two essential tasks for scene understanding, spatially in 3D and temporally in motion. Existing approaches have been focused on the unsupervised setting due to the limited resource to obtain the…

Recently, leveraging on the development of end-to-end convolutional neural networks (CNNs), deep stereo matching networks have achieved remarkable performance far exceeding traditional approaches. However, state-of-the-art stereo frameworks…

Semantic scene understanding is essential for mobile agents acting in various environments. Although semantic segmentation already provides a lot of information, details about individual objects as well as the general scene are missing but…

Despite stereo matching accuracy has greatly improved by deep learning in the last few years, recovering sharp boundaries and high-resolution outputs efficiently remains challenging. In this paper, we propose Stereo Mixture Density Networks…

Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches…

Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Stereo matching provides depth estimation from binocular images for downstream applications. These applications mostly take video streams as input and require temporally consistent depth maps. However, existing methods mainly focus on the…