相关论文: Glass Segmentation with RGB-Thermal Image Pairs

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

The recent Segment Anything Model (SAM) demonstrates strong instance segmentation performance across various downstream tasks. However, SAM is trained solely on RGB data, limiting its direct applicability to RGB-thermal (RGB-T) semantic…

In this work we propose long wave infrared (LWIR) imagery as a viable supporting modality for semantic segmentation using learning-based techniques. We first address the problem of RGB-thermal camera calibration by proposing a passive…

Semantic segmentation is important for scene understanding. To address the scenes of adverse illumination conditions of natural images, thermal infrared (TIR) images are introduced. Most existing RGB-T semantic segmentation methods follow…

RGB-Thermal (RGB-T) pedestrian detection aims to locate the pedestrians in RGB-T image pairs to exploit the complementation between the two modalities for improving detection robustness in extreme conditions. Most existing algorithms assume…

Under difficult environmental conditions, the view of RGB cameras may be restricted by fog, dust or difficult lighting situations. Because thermal cameras visualize thermal radiation, they are not subject to the same limitations as RGB…

Image segmentation in RGB space is a notoriously difficult task where state-of-the-art methods are trained on thousands or even millions of annotated images. While the performance is impressive, it is still not perfect. We propose a novel…

Text-guided multispectral object detection uses text semantics to guide semantic-aware cross-modal interaction between RGB and IR for more robust perception. However, notable limitations remain: (1) existing methods often use text only as…

RGB-thermal (RGB-T) semantic segmentation improves the environmental perception of autonomous platforms in challenging conditions. Prevailing models employ encoders pre-trained on RGB images to extract features from both RGB and infrared…

Most existing RGB-D semantic segmentation methods focus on the feature level fusion, including complex cross-modality and cross-scale fusion modules. However, these methods may cause misalignment problem in the feature fusion process and…

In this paper, we tackle the problem of RGB-D semantic segmentation of indoor images. We take advantage of deconvolutional networks which can predict pixel-wise class labels, and develop a new structure for deconvolution of multiple…

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

Paired RGB-thermal data has shown significant utility across a range of applications, including image fusion, object tracking, and anomaly detection; however, its broader adoption is constrained by the limited availability of aligned…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

Analyzing scenes thoroughly is crucial for mobile robots acting in different environments. Semantic segmentation can enhance various subsequent tasks, such as (semantically assisted) person perception, (semantic) free space detection,…

Glass surfaces of transparent objects and mirrors are not able to be uniquely and explicitly characterized by their visual appearances because they contain the visual appearance of other reflected or transmitted surfaces as well. Detecting…

In this paper we present a new approach for feature fusion between RGB and LWIR Thermal images for the task of semantic segmentation for driving perception. We propose DooDLeNet, a double DeepLab architecture with specialized…

The RGB-Thermal (RGB-T) information for semantic segmentation has been extensively explored in recent years. However, most existing RGB-T semantic segmentation usually compromises spatial resolution to achieve real-time inference speed,…

The advantage of RGB-Thermal (RGB-T) detection lies in its ability to perform modality fusion and integrate cross-modality complementary information, enabling robust detection under diverse illumination and weather conditions. However,…

Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and…