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

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

We introduce Region-Aware Deformable Convolution (RAD-Conv), a new convolutional operator that enhances neural networks' ability to adapt to complex image structures. Unlike traditional deformable convolutions, which are limited to fixed…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Most existing RGB-D semantic segmentation methods focus on the feature level fusion, including complex cross-modality and cross-scale fusion modules. However, these methods may cause misalignment problem in the feature fusion process and…

In this paper, we tackle the problem of depth completion from RGBD data. Towards this goal, we design a simple yet effective neural network block that learns to extract joint 2D and 3D features. Specifically, the block consists of two…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…

A vast majority of augmented reality devices come equipped with depth and color cameras. Despite their advantages, extracting both photometric and depth features simultaneously in real-time remains challenging due to inherent differences…

Graph neural networks have shown significant success in the field of graph representation learning. Graph convolutions perform neighborhood aggregation and represent one of the most important graph operations. Nevertheless, one layer of…

We present a novel and compact architecture for deep Convolutional Neural Networks (CNNs) in this paper, termed $3$D-FilterMap Convolutional Neural Networks ($3$D-FM-CNNs). The convolution layer of $3$D-FM-CNN learns a compact…

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…

Recent advances in deep convolutional neural networks (CNNs) have motivated researchers to adapt CNNs to directly model points in 3D point clouds. Modeling local structure has been proven to be important for the success of convolutional…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

Retrieving spatial information and understanding the semantic information of the surroundings are important for Bird's-Eye-View (BEV) semantic segmentation. In the application of autonomous driving, autonomous vehicles need to be aware of…

Finding semantic correspondences is a challenging problem. With the breakthrough of CNNs stronger features are available for tasks like classification but not specifically for the requirements of semantic matching. In the following we…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

Combining RGB images and the corresponding depth maps in semantic segmentation proves the effectiveness in the past few years. Existing RGB-D modal fusion methods either lack the non-linear feature fusion ability or treat both modal images…

We present a three-dimensional graph convolutional network (3DGCN), which predicts molecular properties and biochemical activities, based on 3D molecular graph. In the 3DGCN, graph convolution is unified with learning operations on the…

Human activity understanding with 3D/depth sensors has received increasing attention in multimedia processing and interactions. This work targets on developing a novel deep model for automatic activity recognition from RGB-D videos. We…

Standard 3D convolution operations require much larger amounts of memory and computation cost than 2D convolution operations. The fact has hindered the development of deep neural nets in many 3D vision tasks. In this paper, we investigate…