相关论文: Panoramic Panoptic Segmentation: Towards Complete …

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Panoptic Part Segmentation (PPS) aims to unify panoptic segmentation and part segmentation into one task. Previous work mainly utilizes separated approaches to handle thing, stuff, and part predictions individually without performing any…

Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…

Panoramic video generation aims to synthesize 360-degree immersive videos, holding significant importance in the fields of VR, world models, and spatial intelligence. Existing works fail to synthesize high-quality panoramic videos due to…

We propose and study a task we name panoptic segmentation (PS). Panoptic segmentation unifies the typically distinct tasks of semantic segmentation (assign a class label to each pixel) and instance segmentation (detect and segment each…

Image segmentation and depth estimation are crucial tasks in computer vision, especially in autonomous driving scenarios. Although these tasks are typically addressed separately, we propose an innovative approach to combine them in our…

The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…

Understanding the scene in which an autonomous robot operates is critical for its competent functioning. Such scene comprehension necessitates recognizing instances of traffic participants along with general scene semantics which can be…

In this paper, we develop rotation-equivariant neural networks for 4D panoptic segmentation. 4D panoptic segmentation is a benchmark task for autonomous driving that requires recognizing semantic classes and object instances on the road…

Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

We present Panoptic Neural Fields (PNF), an object-aware neural scene representation that decomposes a scene into a set of objects (things) and background (stuff). Each object is represented by an oriented 3D bounding box and a multi-layer…

Comprehensive understanding of dynamic scenes is a critical prerequisite for intelligent robots to autonomously operate in their environment. Research in this domain, which encompasses diverse perception problems, has primarily been focused…

Sensing surroundings plays a crucial role in human spatial perception, as it extracts the spatial configuration of objects as well as the free space from the observations. To facilitate the robot perception with such a surrounding sensing…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Temporal correspondence - linking pixels or objects across frames - is a fundamental supervisory signal for the video models. For the panoptic understanding of dynamic scenes, we further extend this concept to every segment. Specifically,…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Panoramic image processing is essential for omni-context perception, yet faces constraints like distortions, perspective occlusions, and limited annotations. Previous unsupervised domain adaptation methods transfer knowledge from labeled…

Navigational perception for visually impaired people has been substantially promoted by both classic and deep learning based segmentation methods. In classic visual recognition methods, the segmentation models are mostly object-dependent,…