相关论文: A Robotic 3D Perception System for Operating Room …

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

The use of datasets is getting more relevance in surgical robotics since they can be used to recognise and automate tasks. Also, this allows to use common datasets to compare different algorithms and methods. The objective of this work is…

Taking over arbitrary tasks like humans do with a mobile service robot in open-world settings requires a holistic scene perception for decision-making and high-level control. This paper presents a human-inspired scene perception model to…

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…

Volumetric medical segmentation is a critical component of 3D medical image analysis that delineates different semantic regions. Deep neural networks have significantly improved volumetric medical segmentation, but they generally require…

Autonomous navigation requires scene understanding of the action-space to move or anticipate events. For planner agents moving on the ground plane, such as autonomous vehicles, this translates to scene understanding in the bird's-eye view…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their potential, conventional 3D indoor scene graphs face critical…

Efficient visual perception using mobile systems is crucial, particularly in unknown environments such as search and rescue operations, where swift and comprehensive perception of objects of interest is essential. In such real-world…

Using multiple robots for exploring and mapping environments can provide improved robustness and performance, but it can be difficult to implement. In particular, limited communication bandwidth is a considerable constraint when a robot…

Semantic segmentation in cataract surgery has a wide range of applications contributing to surgical outcome enhancement and clinical risk reduction. However, the varying issues in segmenting the different relevant instances make the…

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…

In recent years, the research community has shown a lot of interest to panoramic images that offer a 360-degree directional perspective. Multiple data modalities can be fed, and complimentary characteristics can be utilized for more robust…

Semantic segmentation in cataract surgery has a wide range of applications contributing to surgical outcome enhancement and clinical risk reduction. However, the varying issues in segmenting the different relevant structures in these…

We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable…