相关论文: Scene Context Based Semantic Segmentation for 3D L…

Exploiting long-range contextual information is key for pixel-wise prediction tasks such as semantic segmentation. In contrast to previous work that uses multi-scale feature fusion or dilated convolutions, we propose a novel…

Geometric 3D scene classification is a very challenging task. Current methodologies extract the geometric information using only a depth channel provided by an RGB-D sensor. These kinds of methodologies introduce possible errors due to…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Efficient RGB-D semantic segmentation has received considerable attention in mobile robots, which plays a vital role in analyzing and recognizing environmental information. According to previous studies, depth information can provide…

State-of-the-art semantic image segmentation methods are mostly based on training deep convolutional neural networks (CNNs). In this work, we proffer to improve semantic segmentation with the use of contextual information. In particular, we…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

We introduce SketchGNN, a convolutional graph neural network for semantic segmentation and labeling of freehand vector sketches. We treat an input stroke-based sketch as a graph, with nodes representing the sampled points along input…

In the context of robotic grasping, object segmentation encounters several difficulties when faced with dynamic conditions such as real-time operation, occlusion, low lighting, motion blur, and object size variability. In response to these…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

Moving object segmentation is critical to interpret scene dynamics for robotic navigation systems in challenging environments. Neuromorphic vision sensors are tailored for motion perception due to their asynchronous nature, high temporal…

Convolutional Neural Networks (CNNs) have been used extensively for computer vision tasks and produce rich feature representation for objects or parts of an image. But reasoning about scenes requires integration between the low-level…

Rich semantic information extraction plays a vital role on next-generation intelligent vehicles. Currently there is great amount of research focusing on fundamental applications such as 6D pose detection, road scene semantic segmentation,…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

This paper proposes a Graph Neural Network(GNN)-based method for exploiting semantics and local geometry to guide the identification of reliable pointcloud registration candidates. Semantic and morphological features of the environment…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Graph-based convolutional model such as non-local block has shown to be effective for strengthening the context modeling ability in convolutional neural networks (CNNs). However, its pixel-wise computational overhead is prohibitive which…

During the last half decade, convolutional neural networks (CNNs) have triumphed over semantic segmentation, which is one of the core tasks in many applications such as autonomous driving. However, to train CNNs requires a considerable…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…