相关论文: MotionSC: Data Set and Network for Real-Time Seman…

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…

Deep learning techniques have led to remarkable breakthroughs in the field of generic object detection and have spawned a lot of scene-understanding tasks in recent years. Scene graph has been the focus of research because of its powerful…

Training a deep network to perform semantic segmentation requires large amounts of labeled data. To alleviate the manual effort of annotating real images, researchers have investigated the use of synthetic data, which can be labeled…

Monocular Semantic Scene Completion (SSC) aims to reconstruct complete 3D semantic scenes from a single RGB image, offering a cost-effective solution for autonomous driving and robotics. However, the inherently imbalanced nature of voxel…

Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…

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…

Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile robotics. The recent generalization to Panoptic Scene…

3D Semantic Scene Completion (SSC) has gained increasing attention due to its pivotal role in 3D perception. Recent advancements have primarily focused on refining voxel-level features to construct 3D scenes. However, treating voxels as the…

We introduce Synscapes -- a synthetic dataset for street scene parsing created using photorealistic rendering techniques, and show state-of-the-art results for training and validation as well as new types of analysis. We study the behavior…

An effective pre-training framework with universal 3D representations is extremely desired in perceiving large-scale dynamic scenes. However, establishing such an ideal framework that is both task-generic and label-efficient poses a…

Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…

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…

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

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…

Considering the scene's dynamics is the most effective solution to obtain an accurate perception of unknown environments for real vSLAM applications. Most existing methods attempt to address the non-rigid scene assumption by combining…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

In the current worldwide situation, pedestrian detection has reemerged as a pivotal tool for intelligent video-based systems aiming to solve tasks such as pedestrian tracking, social distancing monitoring or pedestrian mass counting.…

Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature…