相关论文: Efficient RGB-D Semantic Segmentation for Indoor S…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

Estimating scene flow in RGB-D videos is attracting much interest of the computer vision researchers, due to its potential applications in robotics. The state-of-the-art techniques for scene flow estimation, typically rely on the knowledge…

Semantic image segmentation is one of fastest growing areas in computer vision with a variety of applications. In many areas, such as robotics and autonomous vehicles, semantic image segmentation is crucial, since it provides the necessary…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Event cameras, or Dynamic Vision Sensor (DVS), are very promising sensors which have shown several advantages over frame based cameras. However, most recent work on real applications of these cameras is focused on 3D reconstruction and…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

Single image depth estimation (SIDE) plays a crucial role in 3D computer vision. In this paper, we propose a two-stage robust SIDE framework that can perform blind SIDE for both indoor and outdoor scenes. At the first stage, the scene…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…

Road scene understanding is a critical component in an autonomous driving system. Although the deep learning-based road scene segmentation can achieve very high accuracy, its complexity is also very high for developing real-time…

In this study, we introduce EdgeSegNet, a compact deep convolutional neural network for the task of semantic segmentation. A human-machine collaborative design strategy is leveraged to create EdgeSegNet, where principled network design…

Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a…

Real-time semantic segmentation of remote sensing imagery is a challenging task that requires a trade-off between effectiveness and efficiency. It has many applications including tracking forest fires, detecting changes in land use and land…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

Deep convolutional networks (CNN) can achieve impressive results on RGB scene recognition thanks to large datasets such as Places. In contrast, RGB-D scene recognition is still underdeveloped in comparison, due to two limitations of RGB-D…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…

Among various sensors for assisted and autonomous driving systems, automotive radar has been considered as a robust and low-cost solution even in adverse weather or lighting conditions. With the recent development of radar technologies and…