相关论文: How semantic and geometric information mutually re…

In this paper, we propose a novel architecture that iteratively discovers and segments out the objects of a scene based on the image reconstruction quality. Different from other approaches, our model uses an explicit localization module…

A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…

Semantic place categorization, which is one of the essential tasks for autonomous robots and vehicles, allows them to have capabilities of self-decision and navigation in unfamiliar environments. In particular, outdoor places are more…

Scene understanding has made tremendous progress over the past few years, as data acquisition systems are now providing an increasing amount of data of various modalities (point cloud, depth, RGB...). However, this improvement comes at a…

Estimating the primary quantization matrix of double JPEG compressed images is a problem of relevant importance in image forensics since it allows to infer important information about the past history of an image. In addition, the…

With robots increasingly collaborating with humans in everyday tasks, it is important to take steps toward robotic systems capable of understanding the environment. This work focuses on scene understanding to detect pick and place tasks…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; bumpy roads; or objects, such as curbs, flower…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically…

Object detection and classification is one of the most important computer vision problems. Ever since the introduction of deep learning \cite{krizhevsky2012imagenet}, we have witnessed a dramatic increase in the accuracy of this object…

Semantic segmentation and instance level segmentation made substantial progress in recent years due to the emergence of deep neural networks (DNNs). A number of deep architectures with Convolution Neural Networks (CNNs) were proposed that…

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…

We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Models based on Convolutional Neural Networks (CNNs) have been proven very successful for semantic segmentation and object parsing that yield hierarchies of features. Our key insight is to build convolutional networks that take input of…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

While initially devised for image categorization, convolutional neural networks (CNNs) are being increasingly used for the pixelwise semantic labeling of images. However, the proper nature of the most common CNN architectures makes them…

We introduce Mask-ToF, a method to reduce flying pixels (FP) in time-of-flight (ToF) depth captures. FPs are pervasive artifacts which occur around depth edges, where light paths from both an object and its background are integrated over…