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Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

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…

Recent work has shown that convolutional neural networks (CNNs) can be applied successfully in disparity estimation, but these methods still suffer from errors in regions of low-texture, occlusions and reflections. Concurrently, deep…

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…

This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene…

Semantic segmentation is a computer vision task that associates a label with each pixel in an image. Modern approaches tend to introduce class embeddings into semantic segmentation for deeply utilizing category semantics, and regard…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

State-of-the-art deep neural networks demonstrate outstanding performance in semantic segmentation. However, their performance is tied to the domain represented by the training data. Open world scenarios cause inaccurate predictions which…

Semantic segmentation, which aims to acquire a detailed understanding of images, is an essential issue in computer vision. However, in practical scenarios, new categories that are different from the categories in training usually appear.…

The rapid development of deep learning has made a great progress in image segmentation, one of the fundamental tasks of computer vision. However, the current segmentation algorithms mostly rely on the availability of pixel-level…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…

The deficiency of segmentation labels is one of the main obstacles to semantic segmentation in the wild. To alleviate this issue, we present a novel framework that generates segmentation labels of images given their image-level class…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Traditionally, the vision community has devised algorithms to estimate the distance between an original image and images that have been subject to perturbations. Inspiration was usually taken from the human visual perceptual system and how…

In this work, we for the first time present a method for detecting label errors in image datasets with semantic segmentation, i.e., pixel-wise class labels. Annotation acquisition for semantic segmentation datasets is time-consuming and…

Underwater surveys provide long-term data for informing management strategies, monitoring coral reef health, and estimating blue carbon stocks. Advances in broad-scale survey methods, such as robotic underwater vehicles, have increased the…

Deep learning usually achieves the best results with complete supervision. In the case of semantic segmentation, this means that large amounts of pixelwise annotations are required to learn accurate models. In this paper, we show that we…

Numerous embedding models have been recently explored to incorporate semantic knowledge into visual recognition. Existing methods typically focus on minimizing the distance between the corresponding images and texts in the embedding space…

We investigate the task of object goal navigation in unknown environments where the target is specified by a semantic label (e.g. find a couch). Such a navigation task is especially challenging as it requires understanding of semantic…