相关论文: SSCNav: Confidence-Aware Semantic Scene Completion…

Self-supervised depth estimation has made a great success in learning depth from unlabeled image sequences. While the mappings between image and pixel-wise depth are well-studied in current methods, the correlation between image, depth and…

This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…

The aim of this work is to establish how accurately a recent semantic-based foveal active perception model is able to complete visual tasks that are regularly performed by humans, namely, scene exploration and visual search. This model…

Robust geometric and semantic scene understanding is ever more important in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based approach capable of jointly…

Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…

A long-standing goal in computer vision is to capture, model, and realistically synthesize human behavior. Specifically, by learning from data, our goal is to enable virtual humans to navigate within cluttered indoor scenes and naturally…

We propose a network architecture to perform efficient scene understanding. This work presents three main novelties: the first is an Improved Guided Upsampling Module that can replace in toto the decoder part in common semantic segmentation…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…

Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various…

Pre-explored Semantic Maps, constructed through prior exploration using visual language models (VLMs), have proven effective as foundational elements for training-free robotic applications. However, existing approaches assume the map's…

Scene text image contains two levels of contents: visual texture and semantic information. Although the previous scene text recognition methods have made great progress over the past few years, the research on mining semantic information to…

In the domain of supervised scene flow estimation, the process of manual labeling is both time-intensive and financially demanding. This paper introduces SSFlowNet, a semi-supervised approach for scene flow estimation, that utilizes a blend…

Semantic segmentation methods have achieved outstanding performance thanks to deep learning. Nevertheless, when such algorithms are deployed to new contexts not seen during training, it is necessary to collect and label scene-specific data…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

This paper describes a method of estimating the traversability of plant parts covering a path and navigating through them for mobile robots operating in plant-rich environments. Conventional mobile robots rely on scene recognition methods…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Current feature matching methods focus on point-level matching, pursuing better representation learning of individual features, but lacking further understanding of the scene. This results in significant performance degradation when…

Semantic segmentation algorithms that can robustly segment objects across multiple camera viewpoints are crucial for assuring navigation and safety in emerging applications such as autonomous driving. Existing algorithms treat each image in…