相关论文: Indoor Scene Recognition in 3D

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…

This paper addresses the task of estimating the light arriving from all directions to a 3D point observed at a selected pixel in an RGB image. This task is challenging because it requires predicting a mapping from a partial scene…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Object class detection has been a synonym for 2D bounding box localization for the longest time, fueled by the success of powerful statistical learning techniques, combined with robust image representations. Only recently, there has been a…

In many robotic domains such as flexible automated manufacturing or personal assistance, a fundamental perception task is that of identifying and localizing objects whose 3D models are known. Canonical approaches to this problem include…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

Representing a scene and its constituent objects from raw sensory data is a core ability for enabling robots to interact with their environment. In this paper, we propose a novel approach for scene understanding, leveraging a hierarchical…

Image space feature detection is the act of selecting points or parts of an image that are easy to distinguish from the surrounding image region. By combining a repeatable point detection with a descriptor, parts of an image can be matched…

Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

Recent studies on visual reinforcement learning (visual RL) have explored the use of 3D visual representations. However, none of these work has systematically compared the efficacy of 3D representations with 2D representations across…

Contextual information plays an important role in many computer vision tasks, such as object detection, video action detection, image classification, etc. Recognizing a single object or action out of context could be sometimes very…

We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial relationships of objects, functional 3D scene graphs capture…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

We present an approach for mobile robots to recognize scenes in object arrangements distributed across cluttered environments. Recognition is enabled by intertwining the robot's search for objects and the assignment of found objects to…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…