相关论文: Real-Time Semantic Stereo Matching

Both object detection in and semantic segmentation of camera images are important tasks for automated vehicles. Object detection is necessary so that the planning and behavior modules can reason about other road users. Semantic segmentation…

Semantic segmentation has achieved great accuracy in understanding spatial layout. For real-time tasks based on dynamic scenes, we extend semantic segmentation in temporal domain to enhance the spatial accuracy with motion. We utilize a…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM)…

Semantic segmentation benefits robotics related applications especially autonomous driving. Most of the research on semantic segmentation is only on increasing the accuracy of segmentation models with little attention to computationally…

Robust semantic scene segmentation for automotive applications is a challenging problem in two key aspects: (1) labelling every individual scene pixel and (2) performing this task under unstable weather and illumination changes (e.g., foggy…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

End-to-end deep networks represent the state of the art for stereo matching. While excelling on images framing environments similar to the training set, major drops in accuracy occur in unseen domains (e.g., when moving from synthetic to…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

Stereo matching is an important problem in computer vision which has drawn tremendous research attention for decades. Recent years, data-driven methods with convolutional neural networks (CNNs) are continuously pushing stereo matching to…

Recent advances in stereo matching have focused on accuracy, often at the cost of significantly increased model size. Traditionally, the community has regarded efficient models as incapable of zero-shot ability due to their limited…

We are interested in automatic scene understanding from geometric cues. To this end, we aim to bring semantic segmentation in the loop of real-time reconstruction. Our semantic segmentation is built on a deep autoencoder stack trained…

Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to…

Computational stereo is one of the classical problems in computer vision. Numerous algorithms and solutions have been reported in recent years focusing on developing methods for computing similarity, aggregating it to obtain spatial support…

Exiting deep-learning based dense stereo matching methods often rely on ground-truth disparity maps as the training signals, which are however not always available in many situations. In this paper, we design a simple convolutional neural…

Stereo matching serves as a cornerstone in 3D vision, aiming to establish pixel-wise correspondences between stereo image pairs for depth recovery. Despite remarkable progress driven by deep neural architectures, current models often…

Stereo depth estimation is used for many computer vision applications. Though many popular methods strive solely for depth quality, for real-time mobile applications (e.g. prosthetic glasses or micro-UAVs), speed and power efficiency are…

Semantic segmentation algorithms that can robustly segment objects across multiple camera viewpoints are crucial for assuring navigation and safety in emerging applications such as autonomous driving. Existing algorithms treat each image in…