相关论文: 3D Gated Recurrent Fusion for Semantic Scene Compl…

Real-time open-vocabulary scene understanding is essential for efficient 3D perception in applications such as vision-language navigation, embodied intelligence, and augmented reality. However, existing methods suffer from imprecise…

Image deblurring aims to reconstruct a latent sharp image from its corresponding blurred one. Although existing methods have achieved good performance, most of them operate exclusively in either the spatial domain or the frequency domain,…

Depth completion is a popular research direction in the field of depth estimation. The fusion of color and depth features is the current critical challenge in this task, mainly due to the asymmetry between the rich scene details in color…

Multi-focus image fusion aims to generate an all-in-focus image from a sequence of partially focused input images. Existing fusion algorithms generally assume that, for every spatial location in the scene, there is at least one input image…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

Semantic Scene Completion (SSC) transforms an image of single-view depth and/or RGB 2D pixels into 3D voxels, each of whose semantic labels are predicted. SSC is a well-known ill-posed problem as the prediction model has to "imagine" what…

To reconstruct a 3D scene from a set of calibrated views, traditional multi-view stereo techniques rely on two distinct stages: local depth maps computation and global depth maps fusion. Recent studies concentrate on deep neural…

For real-time semantic segmentation, how to increase the speed while maintaining high resolution is a problem that has been discussed and solved. Backbone design and fusion design have always been two essential parts of real-time semantic…

Depth completion involves recovering a dense depth map from a sparse map and an RGB image. Recent approaches focus on utilizing color images as guidance images to recover depth at invalid pixels. However, color images alone are not enough…

Multi-modal fusion serves as a cornerstone for successful depth map super-resolution. However, commonly used fusion strategies, such as addition and concatenation, fall short of effectively bridging the modal gap. As a result, guided image…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

Monocular Semantic Scene Completion (MSSC) aims to predict the voxel-wise occupancy and semantic category from a single-view RGB image. Existing methods adopt a single-stage framework that aims to simultaneously achieve visible region…

3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches…

Semantic scene completion (SSC) aims to infer both the 3D geometry and semantics of a scene from single images. In contrast to prior work on SSC that heavily relies on expensive ground-truth annotations, we approach SSC in an unsupervised…

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…

We present a novel approach that converts partial and noisy RGB-D scans into high-quality 3D scene reconstructions by inferring unobserved scene geometry. Our approach is fully self-supervised and can hence be trained solely on real-world,…

We address the problem of semantic correspondence, that is, establishing a dense flow field between images depicting different instances of the same object or scene category. We propose to use images annotated with binary foreground masks…