相关论文: Explainable Semantic Mapping for First Responders

Semantic communication is a new paradigm that aims at providing more efficient communication for the next-generation wireless network. It focuses on transmitting extracted, meaningful information instead of the raw data. However, deep…

While supervised learning is widely used for perception modules in conventional autonomous driving solutions, scalability is hindered by the huge amount of data labeling needed. In contrast, while end-to-end architectures do not require…

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…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

High-resolution satellite imagery available immediately after disaster events is crucial for response planning as it facilitates broad situational awareness of critical infrastructure status such as building damage, flooding, and…

Semantic segmentation is one of the most fundamental tasks in image understanding with a long history of research, and subsequently a myriad of different approaches. Traditional methods strive to train models up from scratch, requiring vast…

Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…

This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…

Few-shot learning is a promising way for reducing the label cost in new categories adaptation with the guidance of a small, well labeled support set. But for few-shot semantic segmentation, the pixel-level annotations of support images are…

Using deep learning, we now have the ability to create exceptionally good semantic segmentation systems; however, collecting the prerequisite pixel-wise annotations for training images remains expensive and time-consuming. Therefore, it…

Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However,…

Weakly supervised semantic segmentation is a challenging task as it only takes image-level information as supervision for training but produces pixel-level predictions for testing. To address such a challenging task, most recent…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

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…

Pre-explored Semantic Maps, constructed through prior exploration using visual language models (VLMs), have proven effective as foundational elements for training-free robotic applications. However, existing approaches assume the map's…

Fully automatic large-scale land cover mapping belongs to the core challenges addressed by the remote sensing community. Usually, the basis of this task is formed by (supervised) machine learning models. However, in spite of recent growth…

Most state-of-the-art semantic segmentation approaches only achieve high accuracy in good conditions. In practically-common but less-discussed adverse environmental conditions, their performance can decrease enormously. Existing studies…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…