相关论文: Multi Modal Semantic Segmentation using Synthetic …

This paper addresses the problem of holistic road scene understanding based on the integration of visual and range data. To achieve the grand goal, we propose an approach that jointly tackles object-level image segmentation and semantic…

In this work, we demonstrate yet another approach to tackle the amodal segmentation problem. Specifically, we first introduce a new representation, namely a semantics-aware distance map (sem-dist map), to serve as our target for amodal…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

Contextual information has been shown to be powerful for semantic segmentation. This work proposes a novel Context-based Tandem Network (CTNet) by interactively exploring the spatial contextual information and the channel contextual…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

In this work we present a framework for the recognition of natural scene text. Our framework does not require any human-labelled data, and performs word recognition on the whole image holistically, departing from the character based…

We achieve 3D semantic scene labeling by exploring semantic relation between each point and its contextual neighbors through edges. Besides an encoder-decoder branch for predicting point labels, we construct an edge branch to hierarchically…

Semantic image segmentation is a central and challenging task in autonomous driving, addressed by training deep models. Since this training draws to a curse of human-based image labeling, using synthetic images with automatically generated…

Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…

3D scene generation seeks to synthesize spatially structured, semantically meaningful, and photorealistic environments for applications such as immersive media, robotics, autonomous driving, and embodied AI. Early methods based on…

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…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

In this work, we present a simple yet effective framework to address the domain translation problem between different sensor modalities with unique data formats. By relying only on the semantics of the scene, our modular generative…

As the intermediate-level representations bridging the two levels, structured representations of visual scenes, such as visual relationships between pairwise objects, have been shown to not only benefit compositional models in learning to…

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…

We present a method for creating 3D indoor scenes with a generative model learned from a collection of semantic-segmented depth images captured from different unknown scenes. Given a room with a specified size, our method automatically…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

Despite the recent progress of generative adversarial networks (GANs) at synthesizing photo-realistic images, producing complex urban scenes remains a challenging problem. Previous works break down scene generation into two consecutive…