相关论文: Real-Time Panoptic Segmentation from Dense Detecti…

Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…

The ability to perform pixel-wise semantic segmentation in real-time is of paramount importance in mobile applications. Recent deep neural networks aimed at this task have the disadvantage of requiring a large number of floating point…

The recently proposed segment anything model (SAM) has made a significant influence in many computer vision tasks. It is becoming a foundation step for many high-level tasks, like image segmentation, image caption, and image editing.…

Instance segmentation is essential for numerous computer vision applications, including robotics, human-computer interaction, and autonomous driving. Currently, popular models bring impressive performance in instance segmentation by…

Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions and shapes, to manipulate them precisely with given tasks.…

Panoptic image segmentation is the computer vision task of finding groups of pixels in an image and assigning semantic classes and object instance identifiers to them. Research in image segmentation has become increasingly popular due to…

Recent progress of deep image classification models has provided great potential to improve state-of-the-art performance in related computer vision tasks. However, the transition to semantic segmentation is hampered by strict memory…

Semantic segmentation, which aims to classify every pixel in an image, is a key task in machine perception, with many applications across robotics and autonomous driving. Due to the high dimensionality of this task, most existing approaches…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

Image segmentation is about grouping pixels with different semantics, e.g., category or instance membership, where each choice of semantics defines a task. While only the semantics of each task differ, current research focuses on designing…

4D panoptic segmentation is a challenging but practically useful task that requires every point in a LiDAR point-cloud sequence to be assigned a semantic class label, and individual objects to be segmented and tracked over time. Existing…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

Semantic segmentation empowers numerous real-world applications, such as autonomous driving and augmented/mixed reality. These applications often operate on high-resolution images (e.g., 8 megapixels) to capture the fine details. However,…

The recently introduced panoptic segmentation task has renewed our community's interest in unifying the tasks of instance segmentation (for thing classes) and semantic segmentation (for stuff classes). However, current state-of-the-art…

This paper introduces panoptica, a versatile and performance-optimized package designed for computing instance-wise segmentation quality metrics from 2D and 3D segmentation maps. panoptica addresses the limitations of existing metrics and…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

In this work, we introduce panoramic panoptic segmentation, as the most holistic scene understanding, both in terms of Field of View (FoV) and image-level understanding for standard camera-based input. A complete surrounding understanding…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Most approaches for instance-aware semantic labeling traditionally focus on accuracy. Other aspects like runtime and memory footprint are arguably as important for real-time applications such as autonomous driving. Motivated by this…