相关论文: Panoramic Panoptic Segmentation: Towards Complete …

In this paper, we address the problem of inferring the layout of complex road scenes given a single camera as input. To achieve that, we first propose a novel parameterized model of road layouts in a top-view representation, which is not…

In this work, we introduce the new scene understanding task of Part-aware Panoptic Segmentation (PPS), which aims to understand a scene at multiple levels of abstraction, and unifies the tasks of scene parsing and part parsing. For this…

Autonomous vehicles clearly benefit from the expanded Field of View (FoV) of 360-degree sensors, but modern semantic segmentation approaches rely heavily on annotated training data which is rarely available for panoramic images. We look at…

Panoramic images, capturing a 360{\deg} field of view (FoV), encompass omnidirectional spatial information crucial for scene understanding. However, it is not only costly to obtain training-sufficient dense-annotated panoramas but also…

Panoptic segmentation methods assign a known class to each pixel given in input. Even for state-of-the-art approaches, this inevitably enforces decisions that systematically lead to wrong predictions for objects outside the training…

Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

Intelligent vehicles clearly benefit from the expanded Field of View (FoV) of the 360-degree sensors, but the vast majority of available semantic segmentation training images are captured with pinhole cameras. In this work, we look at this…

Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…

As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…

Reliable scene understanding is indispensable for modern autonomous systems. Current learning-based methods typically try to maximize their performance based on segmentation metrics that only consider the quality of the segmentation.…

This paper addresses the problem of holistic road scene understanding based on the integration of visual and range data. To achieve the grand goal, we propose an approach that jointly tackles object-level image segmentation and semantic…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

We introduce a new approach to probabilistic unsupervised learning based on the recognition-parametrised model (RPM): a normalised semi-parametric hypothesis class for joint distributions over observed and latent variables. Under the key…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Panoptic segmentation is an important computer vision task which combines semantic and instance segmentation. It plays a crucial role in domains of medical image analysis, self-driving vehicles, and robotics by providing a comprehensive…

Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…

Part-aware panoptic segmentation (PPS) requires (a) that each foreground object and background region in an image is segmented and classified, and (b) that all parts within foreground objects are segmented, classified and linked to their…

Semantically interpreting the traffic scene is crucial for autonomous transportation and robotics systems. However, state-of-the-art semantic segmentation pipelines are dominantly designed to work with pinhole cameras and train with narrow…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…