相关论文: 3D Neighborhood Convolution: Learning Depth-Aware …

RGB-D semantic segmentation has attracted increasing attention over the past few years. Existing methods mostly employ homogeneous convolution operators to consume the RGB and depth features, ignoring their intrinsic differences. In fact,…

Depth data provide geometric information that can bring progress in RGB-D scene parsing tasks. Several recent works propose RGB-D convolution operators that construct receptive fields along the depth-axis to handle 3D neighborhood relations…

3D spatial information is known to be beneficial to the semantic segmentation task. Most existing methods take 3D spatial data as an additional input, leading to a two-stream segmentation network that processes RGB and 3D spatial…

Convolutional neural networks (CNN) are limited by the lack of capability to handle geometric information due to the fixed grid kernel structure. The availability of depth data enables progress in RGB-D semantic segmentation with CNNs.…

We tackle the problem of using 3D information in convolutional neural networks for down-stream recognition tasks. Using depth as an additional channel alongside the RGB input has the scale variance problem present in image convolution based…

In this work, we present the depth-adaptive deep neural network using a depth map for semantic segmentation. Typical deep neural networks receive inputs at the predetermined locations regardless of the distance from the camera. This fixed…

Recent RGB-D semantic segmentation has motivated research interest thanks to the accessibility of complementary modalities from the input side. Existing works often adopt a two-stream architecture that processes photometric and geometric…

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 tackle the problem of RGB-D semantic segmentation of indoor images. We take advantage of deconvolutional networks which can predict pixel-wise class labels, and develop a new structure for deconvolution of multiple…

Conventional 2D Convolutional Neural Networks (CNN) extract features from an input image by applying linear filters. These filters compute the spatial coherence by weighting the photometric information on a fixed neighborhood without taking…

RGB-D semantic segmentation can be advanced with convolutional neural networks due to the availability of Depth data. Although objects cannot be easily discriminated by just the 2D appearance, with the local pixel difference and geometric…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

Deep convolutional networks (CNN) can achieve impressive results on RGB scene recognition thanks to large datasets such as Places. In contrast, RGB-D scene recognition is still underdeveloped in comparison, due to two limitations of RGB-D…

Geometric 3D scene classification is a very challenging task. Current methodologies extract the geometric information using only a depth channel provided by an RGB-D sensor. These kinds of methodologies introduce possible errors due to…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

Scene understanding for autonomous vehicles is a challenging computer vision task, with recent advances in convolutional neural networks (CNNs) achieving results that notably surpass prior traditional feature driven approaches. However,…

Multi-modal fusion has been proved to help enhance the performance of scene classification tasks. This paper presents a 2D-3D Fusion stage that combines 3D Geometric Features with 2D Texture Features obtained by 2D Convolutional Neural…

This paper is concerned with the problem of how to better exploit 3D geometric information for dense semantic image labeling. Existing methods often treat the available 3D geometry information (e.g., 3D depth-map) simply as an additional…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

The distance-geometric graph representation adopts a unified scheme (distance) for representing the geometry of three-dimensional(3D) graphs. It is invariant to rotation and translation of the graph and it reflects pair-wise node…