相关论文: Predicting Depth from Semantic Segmentation using …

Images of scenes have various objects as well as abundant attributes, and diverse levels of visual categorization are possible. A natural image could be assigned with fine-grained labels that describe major components, coarse-grained labels…

Almost all existing deep learning approaches for semantic segmentation tackle this task as a pixel-wise classification problem. Yet humans understand a scene not in terms of pixels, but by decomposing it into perceptual groups and…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

We consider image classification with estimated depth. This problem falls into the domain of transfer learning, since we are using a model trained on a set of depth images to generate depth maps (additional features) for use in another…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…

Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

Semantic segmentation using deep neural networks has been widely explored to generate high-level contextual information for autonomous vehicles. To acquire a complete $180^\circ$ semantic understanding of the forward surroundings, we…

Self-supervised depth estimation has shown its great effectiveness in producing high quality depth maps given only image sequences as input. However, its performance usually drops when estimating on border areas or objects with thin…

The black-box nature of neural networks limits model decision interpretability, in particular for high-dimensional inputs in computer vision and for dense pixel prediction tasks like segmentation. To address this, prior work combines neural…

Semantic segmentation necessitates approaches that learn high-level characteristics while dealing with enormous amounts of data. Convolutional neural networks (CNNs) can learn unique and adaptive features to achieve this aim. However, due…

Building robust and generic object detection frameworks requires scaling to larger label spaces and bigger training datasets. However, it is prohibitively costly to acquire annotations for thousands of categories at a large scale. We…

Image understanding heavily relies on accurate multi-label classification. In recent years, deep learning algorithms have become very successful for such tasks, and various commercial and open-source APIs have been released for public use.…

Semantic Segmentation is a significant research field in Computer Vision. Despite being a widely studied subject area, many visualization tools do not exist that capture segmentation quality and dataset statistics such as a class imbalance…

Detecting semantic parts of an object is a challenging task in computer vision, particularly because it is hard to construct large annotated datasets due to the difficulty of annotating semantic parts. In this paper we present an approach…

Fine-grained image classification, which aims to distinguish images with subtle distinctions, is a challenging task due to two main issues: lack of sufficient training data for every class and difficulty in learning discriminative features…