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

Data-fusion networks have shown significant promise for RGB-thermal scene parsing. However, the majority of existing studies have relied on symmetric duplex encoders for heterogeneous feature extraction and fusion, paying inadequate…

Monocular 3D Semantic Scene Completion (SSC) is a challenging yet promising task that aims to infer dense geometric and semantic descriptions of a scene from a single image. While recent object-centric paradigms significantly improve…

Camera-based 3D Semantic Scene Completion (SSC) is a critical task in autonomous driving systems, assessing voxel-level geometry and semantics for holistic scene perception. While existing voxel-based and plane-based SSC methods have…

Underwater images suffer from complex and diverse degradation, which inevitably affects the performance of underwater visual tasks. However, most existing learning-based Underwater image enhancement (UIE) methods mainly restore such…

We introduce TransformerFusion, a transformer-based 3D scene reconstruction approach. From an input monocular RGB video, the video frames are processed by a transformer network that fuses the observations into a volumetric feature grid…

Semantic labeling of RGB-D scenes is crucial to many intelligent applications including perceptual robotics. It generates pixelwise and fine-grained label maps from simultaneously sensed photometric (RGB) and depth channels. This paper…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly been developed and limited to be task-specific. We introduce…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

The multi-modal salient object detection model based on RGB-D information has better robustness in the real world. However, it remains nontrivial to better adaptively balance effective multi-modal information in the feature fusion phase. In…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…

We introduce ScanComplete, a novel data-driven approach for taking an incomplete 3D scan of a scene as input and predicting a complete 3D model along with per-voxel semantic labels. The key contribution of our method is its ability to…

Semantic segmentation, as a crucial component of complex visual interpretation, plays a fundamental role in autonomous vehicle vision systems. Recent studies have significantly improved the accuracy of semantic segmentation by exploiting…

Semantic segmentation in complex environments such as urban driving scenes remains challenging under adverse lighting conditions, where RGB images alone provide insufficient information. RGB-Thermal fusion leverages the complementary…

Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to…

Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving and robotic navigation. However, existing methods rely on a coupled encoder to deliver both semantic and geometric…

3D Question Answering (3D QA) requires the model to comprehensively understand its situated 3D scene described by the text, then reason about its surrounding environment and answer a question under that situation. However, existing methods…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…