相关论文: Data Augmented 3D Semantic Scene Completion with 2…

Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Monocular Indoor Semantic Scene Completion (SSC) aims to reconstruct a 3D semantic occupancy map from a single RGB image of an indoor scene, inferring spatial layout and object categories from 2D image cues. The challenge of this task…

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its…

Harvesting dense pixel-level annotations to train deep neural networks for semantic segmentation is extremely expensive and unwieldy at scale. While learning from synthetic data where labels are readily available sounds promising,…

3D semantic segmentation is a critical task in many real-world applications, such as autonomous driving, robotics, and mixed reality. However, the task is extremely challenging due to ambiguities coming from the unstructured, sparse, and…

Vision-based 3D Semantic Scene Completion (SSC) has received growing attention due to its potential in autonomous driving. While most existing approaches follow an ego-centric paradigm by aggregating and diffusing features over the entire…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

Monocular 3D Semantic Scene Completion (SSC) is a challenging yet promising task that aims to infer dense geometric and semantic descriptions of a scene from a single image. While recent object-centric paradigms significantly improve…

During the last half decade, convolutional neural networks (CNNs) have triumphed over semantic segmentation, which is one of the core tasks in many applications such as autonomous driving. However, to train CNNs requires a considerable…

Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

Recent camera-based 3D semantic scene completion (SSC) methods have increasingly explored leveraging temporal cues to enrich the features of the current frame. However, while these approaches primarily focus on enhancing in-frame regions,…

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…

Convolutional networks are the de-facto standard for analyzing spatio-temporal data such as images, videos, and 3D shapes. Whilst some of this data is naturally dense (e.g., photos), many other data sources are inherently sparse. Examples…

We introduce a new approach for multiscale 3Dsemantic scene completion from voxelized sparse 3D LiDAR scans. As opposed to the literature, we use a 2D UNet backbone with comprehensive multiscale skip connections to enhance feature flow,…

Semantic segmentation is an important computer vision task, particularly for scene understanding and navigation of autonomous vehicles and UAVs. Several variations of deep neural network architectures have been designed to tackle this task.…

We present an end-to-end trainable deep convolutional neural network (DCNN) for semantic segmentation with built-in awareness of semantically meaningful boundaries. Semantic segmentation is a fundamental remote sensing task, and most…

We present Seen2Scene, the first flow matching-based approach that trains directly on incomplete, real-world 3D scans for scene completion and generation. Unlike prior methods that rely on complete and hence synthetic 3D data, our approach…

It has long been considered a significant problem to improve the visual quality of lossy image and video compression. Recent advances in computing power together with the availability of large training data sets has increased interest in…

The key to integrating visual language tasks is to establish a good alignment strategy. Recently, visual semantic representation has achieved fine-grained visual understanding by dividing grids or image patches. However, the coarse-grained…