相关论文: Monocular Instance Motion Segmentation for Autonom…

We propose a novel multi-task learning system that combines appearance and motion cues for a better semantic reasoning of the environment. A unified architecture for joint vehicle detection and motion segmentation is introduced. In this…

Semantic segmentation approaches are typically trained on large-scale data with a closed finite set of known classes without considering unknown objects. In certain safety-critical robotics applications, especially autonomous driving, it is…

Despite significant efforts, cutting-edge video segmentation methods still remain sensitive to occlusion and rapid movement, due to their reliance on the appearance of objects in the form of object embeddings, which are vulnerable to these…

Moving object Detection (MOD) is a critical task in autonomous driving as moving agents around the ego-vehicle need to be accurately detected for safe trajectory planning. It also enables appearance agnostic detection of objects based on…

The advancement of computer vision has pushed visual analysis tasks from still images to the video domain. In recent years, video instance segmentation, which aims to track and segment multiple objects in video frames, has drawn much…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Moving object segmentation plays a crucial role in understanding dynamic scenes involving multiple moving objects, while the difficulties lie in taking into account both spatial texture structures and temporal motion cues. Existing methods…

In this work we contribute a novel pipeline to automatically generate training data, and to improve over state-of-the-art multi-object tracking and segmentation (MOTS) methods. Our proposed track mining algorithm turns raw street-level…

Inspired by recent advances of deep learning in instance segmentation and object tracking, we introduce video object segmentation problem as a concept of guided instance segmentation. Our model proceeds on a per-frame basis, guided by the…

Ensuring safety in autonomous driving is a complex challenge requiring handling unknown objects and unforeseen driving scenarios. We develop multiscale video transformers capable of detecting unknown objects using only motion cues. Video…

Safe navigation of self-driving cars and robots requires a precise understanding of their environment. Training data for perception systems cannot cover the wide variety of objects that may appear during deployment. Thus, reliable…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

This paper studies the problem of object discovery -- separating objects from the background without manual labels. Existing approaches utilize appearance cues, such as color, texture, and location, to group pixels into object-like regions.…

Successful execution of dexterous robotic manipulation tasks in new environments, such as grasping, depends on the ability to proficiently segment unseen objects from the background and other objects. Previous works in unseen object…

Identifying and segmenting moving objects from a moving monocular camera is difficult when there is unknown camera motion, different types of object motions and complex scene structures. To tackle these challenges, we take advantage of two…

Identifying moving objects is a crucial capability for autonomous navigation, consistent map generation, and future trajectory prediction of objects. In this paper, we propose a novel network that addresses the challenge of segmenting…

This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of…

Monocular 3D object detection has recently shown promising results, however there remain challenging problems. One of those is the lack of invariance to different camera intrinsic parameters, which can be observed across different 3D object…

We introduce the problem of weakly supervised Multi-Object Tracking and Segmentation, i.e. joint weakly supervised instance segmentation and multi-object tracking, in which we do not provide any kind of mask annotation. To address it, we…