相关论文: Efficient Multi-Task RGB-D Scene Analysis for Indo…

Semantic scene completion is the task of producing a complete 3D voxel representation of volumetric occupancy with semantic labels for a scene from a single-view observation. We built upon the recent work of Song et al. (CVPR 2017), who…

This paper addresses the task of semantic segmentation in computer vision, aiming to achieve precise pixel-wise classification. We investigate the joint training of models for semantic edge detection and semantic segmentation, which has…

3D semantic maps have played an increasingly important role in high-precision robot localization and scene understanding. However, real-time construction of semantic maps requires mobile edge devices with extremely high computing power,…

Road scene understanding is a critical component in an autonomous driving system. Although the deep learning-based road scene segmentation can achieve very high accuracy, its complexity is also very high for developing real-time…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

In order to ensure safe autonomous driving, precise information about the conditions in and around the vehicle must be available. Accordingly, the monitoring of occupants and objects inside the vehicle is crucial. In the state-of-the-art,…

The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more…

A key proficiency an autonomous mobile robot must have to perform high-level tasks is a strong understanding of its environment. This involves information about what types of objects are present, where they are, what their spatial extend…

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

Graph-based convolutional model such as non-local block has shown to be effective for strengthening the context modeling ability in convolutional neural networks (CNNs). However, its pixel-wise computational overhead is prohibitive which…

Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a…

We introduce 3D-SIS, a novel neural network architecture for 3D semantic instance segmentation in commodity RGB-D scans. The core idea of our method is to jointly learn from both geometric and color signal, thus enabling accurate instance…

Solving multiple visual tasks using individual models can be resource-intensive, while multi-task learning can conserve resources by sharing knowledge across different tasks. Despite the benefits of multi-task learning, such techniques can…

Maps have played an indispensable role in enabling safe and automated driving. Although there have been many advances on different fronts ranging from SLAM to semantics, building an actionable hierarchical semantic representation of urban…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

RGB and thermal image fusion have great potential to exhibit improved semantic segmentation in low-illumination conditions. Existing methods typically employ a two-branch encoder framework for multimodal feature extraction and design…

In this work, we propose a single deep neural network for panoptic segmentation, for which the goal is to provide each individual pixel of an input image with a class label, as in semantic segmentation, as well as a unique identifier for…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

Panoptic segmentation is a complex full scene parsing task requiring simultaneous instance and semantic segmentation at high resolution. Current state-of-the-art approaches cannot run in real-time, and simplifying these architectures to…