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

Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due…

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

Combining RGB images and the corresponding depth maps in semantic segmentation proves the effectiveness in the past few years. Existing RGB-D modal fusion methods either lack the non-linear feature fusion ability or treat both modal images…

2D convolution (Conv2d), which is responsible for extracting features from the input image, is one of the key modules of a convolutional neural network (CNN). However, Conv2d is vulnerable to image corruptions and adversarial samples. It is…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Depth information has proven to be a useful cue in the semantic segmentation of RGB-D images for providing a geometric counterpart to the RGB representation. Most existing works simply assume that depth measurements are accurate and…

Depth data provide geometric information that can bring progress in RGB-D scene parsing tasks. Several recent works propose RGB-D convolution operators that construct receptive fields along the depth-axis to handle 3D neighborhood relations…

While object semantic understanding is essential for most service robotic tasks, 3D object classification is still an open problem. Learning from artificial 3D models alleviates the cost of annotation necessary to approach this problem, but…

Adapting deep learning networks for point cloud data recognition in self-driving vehicles faces challenges due to the variability in datasets and sensor technologies, emphasizing the need for adaptive techniques to maintain accuracy across…

We introduce a View-Volume convolutional neural network (VVNet) for inferring the occupancy and semantic labels of a volumetric 3D scene from a single depth image. The VVNet concatenates a 2D view CNN and a 3D volume CNN with a…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

Deep neural networks face many problems in the field of hyperspectral image classification, lack of effective utilization of spatial spectral information, gradient disappearance and overfitting as the model depth increases. In order to…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

Guided depth map super-resolution (GDSR), as a hot topic in multi-modal image processing, aims to upsample low-resolution (LR) depth maps with additional information involved in high-resolution (HR) RGB images from the same scene. The…

Convolutional neural networks (CNNs) are usually built by stacking convolutional operations layer-by-layer. Although CNN has shown strong capability to extract semantics from raw pixels, its capacity to capture spatial relationships of…

Despite the steady progress in video analysis led by the adoption of convolutional neural networks (CNNs), the relative improvement has been less drastic as that in 2D static image classification. Three main challenges exist including…

Modern convolutional neural networks apply the same operations on every pixel in an image. However, not all image regions are equally important. To address this inefficiency, we propose a method to dynamically apply convolutions conditioned…

We propose an online 3D semantic segmentation method that incrementally reconstructs a 3D semantic map from a stream of RGB-D frames. Unlike offline methods, ours is directly applicable to scenarios with real-time constraints, such as…

Finding semantic correspondences is a challenging problem. With the breakthrough of CNNs stronger features are available for tasks like classification but not specifically for the requirements of semantic matching. In the following we…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…