相关论文: Semantic MapNet: Building Allocentric Semantic Map…
Semantic segmentation is a computer vision task that associates a label with each pixel in an image. Modern approaches tend to introduce class embeddings into semantic segmentation for deeply utilizing category semantics, and regard…
Semantic localization, i.e., robot self-localization with semantic image modality, is critical in recently emerging embodied AI applications (e.g., point-goal navigation, object-goal navigation, vision language navigation) and topological…
Frame semantic parsing is a semantic analysis task based on FrameNet which has received great attention recently. The task usually involves three subtasks sequentially: (1) target identification, (2) frame classification and (3) semantic…
Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…
Autonomous driving systems require High-Definition (HD) semantic maps to navigate around urban roads. Existing solutions approach the semantic mapping problem by offline manual annotation, which suffers from serious scalability issues.…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state. In such tasks, the ability to reason about spatial relations among object entities from…
A map, as crucial information for downstream applications of an autonomous driving system, is usually represented in lanelines or centerlines. However, existing literature on map learning primarily focuses on either detecting geometry-based…
What if accessing the web did not require a screen, a stable desk, or even free hands? For people navigating crowded cities, living with low vision, or experiencing cognitive overload, smart glasses coupled with AI agents could turn the web…
In recent years, image captioning and segmentation have emerged as crucial tasks in computer vision, with applications ranging from autonomous driving to content analysis. Although multiple solutions have emerged to help blind and visually…
This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from…
Autoencoding, which aims to reconstruct the input images through a bottleneck latent representation, is one of the classic feature representation learning strategies. It has been shown effective as an auxiliary task for semi-supervised…
The ability to endow maps of indoor scenes with semantic information is an integral part of robotic agents which perform different tasks such as target driven navigation, object search or object rearrangement. The state-of-the-art methods…
We present SpatialMem, a memory-centric system for long-horizon, language-grounded retrieval and QA from egocentric video, where metric 3D serves as an interpretable indexing scaffold rather than an explicit mapping objective. Starting from…
We present AEGIS-Net, a novel indoor place recognition model that takes in RGB point clouds and generates global place descriptors by aggregating lower-level color, geometry features and higher-level implicit semantic features. However,…
We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…
Low-dimensional visualizations, or "projection maps," are widely used in scientific and creative domains to interpret large-scale and complex datasets. These visualizations not only aid in understanding existing knowledge spaces but also…
Images captured in harsh environments often exhibit blurred details, reduced contrast, and color distortion, which hinder feature detection and matching, thereby affecting the accuracy and robustness of homography estimation. While visual…
Mixed Reality (MR) headsets promise a future of immersive telepresence where virtual humans blend indistinguishably into real or virtual surroundings. Achieving this vision requires a method for capturing a user's motion, estimating…
Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However,…