相关论文: Panoptic, Instance and Semantic Relations: A Relat…

We present a recurrent model for semantic instance segmentation that sequentially generates binary masks and their associated class probabilities for every object in an image. Our proposed system is trainable end-to-end from an input image…

Semantic segmentation algorithms that can robustly segment objects across multiple camera viewpoints are crucial for assuring navigation and safety in emerging applications such as autonomous driving. Existing algorithms treat each image in…

Recent progress in self-supervised representation learning has resulted in models that are capable of extracting image features that are not only effective at encoding image level, but also pixel-level, semantics. These features have been…

We propose an approach to instance-level image segmentation that is built on top of category-level segmentation. Specifically, for each pixel in a semantic category mask, its corresponding instance bounding box is predicted using a deep…

We present a novel end-to-end single-shot method that segments countable object instances (things) as well as background regions (stuff) into a non-overlapping panoptic segmentation at almost video frame rate. Current state-of-the-art…

Panoptic Scene Graph Generation (PSG) parses objects and predicts their relationships (predicate) to connect human language and visual scenes. However, different language preferences of annotators and semantic overlaps between predicates…

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

This paper addresses the problem of holistic road scene understanding based on the integration of visual and range data. To achieve the grand goal, we propose an approach that jointly tackles object-level image segmentation and semantic…

Nowadays, navigation and ride-sharing apps have collected numerous images with spatio-temporal data. A core technology for analyzing such images, associated with spatiotemporal information, is Traffic Scene Understanding (TSU), which aims…

Composed image retrieval (CIR) is the task of retrieving specific images by using a query that involves both a reference image and a relative caption. Most existing CIR models adopt the late-fusion strategy to combine visual and language…

Current semantic segmentation methods focus only on mining "local" context, i.e., dependencies between pixels within individual images, by context-aggregation modules (e.g., dilated convolution, neural attention) or structure-aware…

We present joint learning of instance and semantic segmentation for visible and occluded region masks. Sharing the feature extractor with instance occlusion segmentation, we introduce semantic occlusion segmentation into the instance…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

We propose a new and, arguably, a very simple reduction of instance segmentation to semantic segmentation. This reduction allows to train feed-forward non-recurrent deep instance segmentation systems in an end-to-end fashion using…

Multi-instance point cloud registration estimates the poses of multiple instances of a model point cloud in a scene point cloud. Extracting accurate point correspondence is to the center of the problem. Existing approaches usually treat the…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Referring image segmentation aims to produce a pixel-level mask for the image region described by a natural-language expression. Although pretrained vision-language models have improved semantic grounding, many existing methods still rely…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…