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

Pixel-wise semantic segmentation for visual scene understanding not only needs to be accurate, but also efficient in order to find any use in real-time application. Existing algorithms even though are accurate but they do not focus on…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance. To address these challenges, we propose a Deep Learning network that…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Scene understanding is paramount in robotics, self-navigation, augmented reality, and many other fields. To fully accomplish this task, an autonomous agent has to infer the 3D structure of the sensed scene (to know where it looks at) and…

We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models…

Semantic segmentation plays an important role in widespread applications such as autonomous driving and robotic sensing. Traditional methods mostly use RGB images which are heavily affected by lighting conditions, \eg, darkness. Recent…

The ability to perform pixel-wise semantic segmentation in real-time is of paramount importance in mobile applications. Recent deep neural networks aimed at this task have the disadvantage of requiring a large number of floating point…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Predicting the future is an important aspect for decision-making in robotics or autonomous driving systems, which heavily rely upon visual scene understanding. While prior work attempts to predict future video pixels, anticipate activities…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

Vision-based perception and reasoning is essential for scene understanding in any autonomous system. RGB and depth images are commonly used to capture both the semantic and geometric features of the environment. Developing methods to…

Semantic segmentation is important for scene understanding. To address the scenes of adverse illumination conditions of natural images, thermal infrared (TIR) images are introduced. Most existing RGB-T semantic segmentation methods follow…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

As the scene information, including objectness and scene type, are important for people with visual impairment, in this work we present a multi-task efficient perception system for the scene parsing and recognition tasks. Building on the…

Real-time semantic segmentation, which aims to achieve high segmentation accuracy at real-time inference speed, has received substantial attention over the past few years. However, many state-of-the-art real-time semantic segmentation…