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

Multi-task visual perception has a wide range of applications in scene understanding such as autonomous driving. In this work, we devise an efficient unified framework to solve multiple common perception tasks, including instance…

Most approaches for instance-aware semantic labeling traditionally focus on accuracy. Other aspects like runtime and memory footprint are arguably as important for real-time applications such as autonomous driving. Motivated by this…

Many research works focus on leveraging the complementary geometric information of indoor depth sensors in vision tasks performed by deep convolutional neural networks, notably semantic segmentation. These works deal with a specific vision…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

3D semantic scene completion and 2D semantic segmentation are two tightly correlated tasks that are both essential for indoor scene understanding, because they predict the same semantic classes, using positively correlated high-level…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

Sensor-based human activity segmentation and recognition are two important and challenging problems in many real-world applications and they have drawn increasing attention from the deep learning community in recent years. Most of the…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…

Semantic scene segmentation plays a critical role in a wide range of robotics applications, e.g., autonomous navigation. These applications are accompanied by specific computational restrictions, e.g., operation on low-power GPUs, at…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

The perception system in personalized mobile agents requires developing indoor scene understanding models, which can understand 3D geometries, capture objectiveness, analyze human behaviors, etc. Nonetheless, this direction has not been…

Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches…

Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…

Understanding 3D environments semantically is pivotal in autonomous driving applications where multiple computer vision tasks are involved. Multi-task models provide different types of outputs for a given scene, yielding a more holistic…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…