相关论文: Evaluating the Impact of Semantic Segmentation and…

Semantic segmentation consists of assigning a semantic label to each pixel according to predefined classes. This process facilitates the understanding of object appearance and spatial relationships, playing an important role in the global…

Moving objects can greatly jeopardize the performance of a visual simultaneous localization and mapping (vSLAM) system which relies on the static-world assumption. Motion removal have seen successful on solving this problem. Two main…

Convolutional neural networks for semantic segmentation suffer from low performance at object boundaries. In medical imaging, accurate representation of tissue surfaces and volumes is important for tracking of disease biomarkers such as…

When designing a semantic segmentation module for a practical application, such as autonomous driving, it is crucial to understand the robustness of the module with respect to a wide range of image corruptions. While there are recent…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Over the past years, computer vision community has contributed to enormous progress in semantic image segmentation, a per-pixel classification task, crucial for dense scene understanding and rapidly becoming vital in lots of real-world…

Scene classification is a key problem in the interpretation of high-resolution remote sensing imagery. Many state-of-the-art methods, e.g. bag-of-visual-words model and its variants, the topic models as well as deep learning-based…

Research works on the two topics of Semantic Segmentation and SLAM (Simultaneous Localization and Mapping) have been following separate tracks. Here, we link them quite tightly by delineating a category label fusion technique that allows…

Semantic segmentation is a fundamental computer vision task with a vast number of applications. State of the art methods increasingly rely on deep learning models, known to incorrectly estimate uncertainty and being overconfident in…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…

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…

This paper presents a novel method for discovering systematic errors in segmentation models. For instance, a systematic error in the segmentation model can be a sufficiently large number of misclassifications from the model as a parking…

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…

SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…