相关论文: ARKitScenes: A Diverse Real-World Dataset For 3D I…

A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…

Compared with traditional RGB-only visual tracking, few datasets have been constructed for RGB-D tracking. In this paper, we propose ARKitTrack, a new RGB-D tracking dataset for both static and dynamic scenes captured by consumer-grade…

Neural network performance scales with both model size and data volume, as shown in both language and image processing. This requires scaling-friendly architectures and large datasets. While transformers have been adapted for 3D vision, a…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

RGB-D data is essential for solving many problems in computer vision. Hundreds of public RGB-D datasets containing various scenes, such as indoor, outdoor, aerial, driving, and medical, have been proposed. These datasets are useful for…

We present ScanNet++, a large-scale dataset that couples together capture of high-quality and commodity-level geometry and color of indoor scenes. Each scene is captured with a high-end laser scanner at sub-millimeter resolution, along with…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

Computer vision was long a tool used for aiding visually impaired people to move around their environment and avoid obstacles and falls. Solutions are limited to either indoor or outdoor scenes, which limits the kind of places and scenes…

The perception system in personalized mobile agents requires developing indoor scene understanding models, which can understand 3D geometries, capture objectiveness, analyze human behaviors, etc. Nonetheless, this direction has not been…

Multi-sensor fusion has significant potential in perception tasks for both indoor and outdoor environments. Especially under challenging conditions such as adverse weather and low-light environments, the combined use of millimeter-wave…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

We present a new multi-sensor dataset for multi-view 3D surface reconstruction. It includes registered RGB and depth data from sensors of different resolutions and modalities: smartphones, Intel RealSense, Microsoft Kinect, industrial…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

The advancement of Embodied AI heavily relies on large-scale, simulatable 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in data scale or diversity,…

Scene recognition with RGB images has been extensively studied and has reached very remarkable recognition levels, thanks to convolutional neural networks (CNN) and large scene datasets. In contrast, current RGB-D scene data is much more…

Since the launch of the Microsoft Kinect, scores of RGBD datasets have been released. These have propelled advances in areas from reconstruction to gesture recognition. In this paper we explore the field, reviewing datasets across eight…

This paper presents a new multi-view RGB-D dataset of nine kitchen scenes, each containing several objects in realistic cluttered environments including a subset of objects from the BigBird dataset. The viewpoints of the scenes are densely…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…