相关论文: Spatial Information Guided Convolution for Real-Ti…

RGB-D semantic segmentation has attracted increasing attention over the past few years. Existing methods mostly employ homogeneous convolution operators to consume the RGB and depth features, ignoring their intrinsic differences. In fact,…

A key challenge for RGB-D segmentation is how to effectively incorporate 3D geometric information from the depth channel into 2D appearance features. We propose to model the effective receptive field of 2D convolution based on the scale and…

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…

Deep learning-based hyperspectral image super-resolution (SR) methods have achieved great success recently. However, most existing models can not effectively explore spatial information and spectral information between bands simultaneously,…

Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…

We introduce Spatial Group Convolution (SGC) for accelerating the computation of 3D dense prediction tasks. SGC is orthogonal to group convolution, which works on spatial dimensions rather than feature channel dimension. It divides input…

Deep learning-based image registration methods have shown state-of-the-art performance and rapid inference speeds. Despite these advances, many existing approaches fall short in capturing spatially varying information in non-local regions…

This paper addresses fast semantic segmentation on video.Video segmentation often calls for real-time, or even fasterthan real-time, processing. One common recipe for conserving computation arising from feature extraction is to propagate…

Deep neural networks face several challenges in hyperspectral image classification, including complex and sparse ground object distributions, small clustered structures, and elongated multi-branch features that often lead to missing…

We tackle the problem of using 3D information in convolutional neural networks for down-stream recognition tasks. Using depth as an additional channel alongside the RGB input has the scale variance problem present in image convolution based…

Convolutional networks are the de-facto standard for analyzing spatio-temporal data such as images, videos, and 3D shapes. Whilst some of this data is naturally dense (e.g., photos), many other data sources are inherently sparse. Examples…

We propose a novel superpixel-based multi-view convolutional neural network for semantic image segmentation. The proposed network produces a high quality segmentation of a single image by leveraging information from additional views of the…

Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…

Convolutional neural networks (CNNs) are essential tools for computer vision tasks, but they lack traditionally desired properties of extracted features that could further improve model performance, e.g., rotational equivariance. Such…

Neural implicit functions have achieved impressive results for reconstructing 3D shapes from single images. However, the image features for describing 3D point samplings of implicit functions are less effective when significant variations…

3D scenes are dominated by a large number of background points, which is redundant for the detection task that mainly needs to focus on foreground objects. In this paper, we analyze major components of existing sparse 3D CNNs and find that…

LiDAR point cloud semantic segmentation enables the robots to obtain fine-grained semantic information of the surrounding environment. Recently, many works project the point cloud onto the 2D image and adopt the 2D Convolutional Neural…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

LiDAR point-cloud segmentation is an important problem for many applications. For large-scale point cloud segmentation, the \textit{de facto} method is to project a 3D point cloud to get a 2D LiDAR image and use convolutions to process it.…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…