相关论文: Online panoptic 3D reconstruction as a Linear Assi…

Panoptic segmentation combines instance and semantic predictions, allowing the detection of "things" and "stuff" simultaneously. Effectively approaching panoptic segmentation in remotely sensed data can be auspicious in many challenging…

This paper presents a real-time segmentation and reconstruction system that utilizes RGB-D images to generate accurate and detailed individual 3D models of objects within a captured scene. Leveraging state-of-the-art instance segmentation…

In this paper, we propose a new framework for online 3D scene perception. Conventional 3D scene perception methods are offline, i.e., take an already reconstructed 3D scene geometry as input, which is not applicable in robotic applications…

Panoptic segmentation has become a new standard of visual recognition task by unifying previous semantic segmentation and instance segmentation tasks in concert. In this paper, we propose and explore a new video extension of this task,…

Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…

Visual scene understanding is a fundamental task in computer vision that aims to extract meaningful information from visual data. It traditionally involves disjoint and specialized algorithms for different tasks that are tailored for…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Navigational perception for visually impaired people has been substantially promoted by both classic and deep learning based segmentation methods. In classic visual recognition methods, the segmentation models are mostly object-dependent,…

This paper introduces panoptica, a versatile and performance-optimized package designed for computing instance-wise segmentation quality metrics from 2D and 3D segmentation maps. panoptica addresses the limitations of existing metrics and…

We study the problem of image alignment for panoramic stitching. Unlike most existing approaches that are feature-based, our algorithm works on pixels directly, and accounts for errors across the whole images globally. Technically, we…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

In this paper, we present a new algorithm for fast, online 3D reconstruction of dynamic scenes using times of arrival of photons recorded by single-photon detector arrays. One of the main challenges in 3D imaging using single-photon lidar…

Panoptic segmentation unifies semantic and instance segmentation and thus delivers a semantic class label and, for so-called thing classes, also an instance label per pixel. The differentiation of distinct objects of the same class with a…

This paper introduces a new approach for the automated reconstruction - reassembly of fragmented objects having one surface near to plane, on the basis of the 3D representation of their constituent fragments. The whole process starts by 3D…

Panoptic segmentation unifies semantic segmentation and instance segmentation which has been attracting increasing attention in recent years. However, most existing research was conducted under a supervised learning setup whereas…

In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes…

Recently, there have been numerous advances in the development of payload and power constrained lightweight Micro Aerial Vehicles (MAVs). As these robots aspire for high-speed autonomous flights in complex dynamic environments, robust scene…

Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…

Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…