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

This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…

Scene understanding for autonomous vehicles is a challenging computer vision task, with recent advances in convolutional neural networks (CNNs) achieving results that notably surpass prior traditional feature driven approaches. However,…

The paper exploits weak Manhattan constraints to parse the structure of indoor environments from RGB-D video sequences in an online setting. We extend the previous approach for single view parsing of indoor scenes to video sequences and…

LiDAR-based 3D object detection, semantic segmentation, and panoptic segmentation are usually implemented in specialized networks with distinctive architectures that are difficult to adapt to each other. This paper presents LidarMultiNet, a…

We propose a network architecture to perform efficient scene understanding. This work presents three main novelties: the first is an Improved Guided Upsampling Module that can replace in toto the decoder part in common semantic segmentation…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

Image semantic segmentation technology is one of the key technologies for intelligent systems to understand natural scenes. As one of the important research directions in the field of visual intelligence, this technology has broad…

This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…

Real-time semantic segmentation plays a significant role in industry applications, such as autonomous driving, robotics and so on. It is a challenging task as both efficiency and performance need to be considered simultaneously. To address…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly been developed and limited to be task-specific. We introduce…

We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

Scene text image super-resolution has significantly improved the accuracy of scene text recognition. However, many existing methods emphasize performance over efficiency and ignore the practical need for lightweight solutions in deployment…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Semantic segmentation and vision-based geolocalization in aerial images are challenging tasks in computer vision. Due to the advent of deep convolutional nets and the availability of relatively low cost UAVs, they are currently generating a…

We introduce the first approach to solve the challenging problem of unsupervised 4D visual scene understanding for complex dynamic scenes with multiple interacting people from multi-view video. Our approach simultaneously estimates a…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…