相关论文: Understanding Pixel-level 2D Image Semantics with …

State-of-the-art approaches for 6D object pose estimation require large amounts of labeled data to train the deep networks. However, the acquisition of 6D object pose annotations is tedious and labor-intensive in large quantity. To…

While many image colorization algorithms have recently shown the capability of producing plausible color versions from gray-scale photographs, they still suffer from the problems of context confusion and edge color bleeding. To address…

With the immense growth of dataset sizes and computing resources in recent years, so-called foundation models have become popular in NLP and vision tasks. In this work, we propose to explore foundation models for the task of keypoint…

Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

We present KDFNet, a novel method for 6D object pose estimation from RGB images. To handle occlusion, many recent works have proposed to localize 2D keypoints through pixel-wise voting and solve a Perspective-n-Point (PnP) problem for pose…

Vision and language tasks such as Visual Relation Detection and Visual Question Answering benefit from semantic features that afford proper grounding of language. The 3D depth of objects depicted in 2D images is one such feature. However it…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

We propose Scan2Part, a method to segment individual parts of objects in real-world, noisy indoor RGB-D scans. To this end, we vary the part hierarchies of objects in indoor scenes and explore their effect on scene understanding models.…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

We propose an end-to-end learning framework for generating foreground object segmentations. Given a single novel image, our approach produces pixel-level masks for all "object-like" regions---even for object categories never seen during…

Recent advances in 3D semantic segmentation with deep neural networks have shown remarkable success, with rapid performance increase on available datasets. However, current 3D semantic segmentation benchmarks contain only a small number of…

While many image colorization algorithms have recently shown the capability of producing plausible color versions from gray-scale photographs, they still suffer from limited semantic understanding. To address this shortcoming, we propose to…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Supervised keypoint localization methods rely on large manually labeled image datasets, where objects can deform, articulate, or occlude. However, creating such large keypoint labels is time-consuming and costly, and is often error-prone…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

This work addresses the challenge of sub-pixel accuracy in detecting 2D local features, a cornerstone problem in computer vision. Despite the advancements brought by neural network-based methods like SuperPoint and ALIKED, these modern…

We present Im2Pano3D, a convolutional neural network that generates a dense prediction of 3D structure and a probability distribution of semantic labels for a full 360 panoramic view of an indoor scene when given only a partial observation…