相关论文: Identifying Unknown Instances for Autonomous Drivi…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

Open-world instance segmentation is a rising task, which aims to segment all objects in the image by learning from a limited number of base-category objects. This task is challenging, as the number of unseen categories could be hundreds of…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Object detection methods have witnessed impressive improvements in the last years thanks to the design of novel neural network architectures and the availability of large scale datasets. However, current methods have a significant…

The operating environment of a highly automated vehicle is subject to change, e.g., weather, illumination, or the scenario containing different objects and other participants in which the highly automated vehicle has to navigate its…

Autonomous vehicles are the next revolution in the automobile industry and they are expected to revolutionize the future of transportation. Understanding the scenario in which the autonomous vehicle will operate is critical for its…

Before deployment in the real-world deep neural networks require thorough evaluation of how they handle both knowns, inputs represented in the training data, and unknowns (anomalies). This is especially important for scene understanding…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Ensuring safety in autonomous driving is a complex challenge requiring handling unknown objects and unforeseen driving scenarios. We develop multiscale video transformers capable of detecting unknown objects using only motion cues. Video…

Stixels have been successfully applied to a wide range of vision tasks in autonomous driving, recently including instance segmentation. However, due to their sparse occurrence in the image, until now Stixels seldomly served as input for…

In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such environments therefore requires robots to update their…

A more realistic object detection paradigm, Open-World Object Detection, has arisen increasing research interests in the community recently. A qualified open-world object detector can not only identify objects of known categories, but also…

We present a semi-supervised approach that localizes multiple unknown object instances in long videos. We start with a handful of labeled boxes and iteratively learn and label hundreds of thousands of object instances. We propose criteria…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…

We present a new, embarrassingly simple approach to instance segmentation in images. Compared to many other dense prediction tasks, e.g., semantic segmentation, it is the arbitrary number of instances that have made instance segmentation…

When performing data classification over a stream of continuously occurring instances, a key challenge is to develop an open-world classifier that anticipates instances from an unknown class. Studies addressing this problem, typically…

The ability to localize and segment objects from unseen classes would open the door to new applications, such as autonomous object learning in active vision. Nonetheless, improving the performance on unseen classes requires additional…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Instance segmentation has attracted recent attention in computer vision and existing methods in this domain mostly have an object detection stage. In this paper, we study the intrinsic challenge of the instance segmentation problem, the…