相关论文: Robust Double-Encoder Network for RGB-D Panoptic S…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

Multi-modality of color and depth, i.e., RGB-D, is of great importance in recent research of indoor scene recognition. In this kind of data representation, depth map is able to describe the 3D structure of scenes and geometric relations…

Recognizing objects and scenes are two challenging but essential tasks in image understanding. In particular, the use of RGB-D sensors in handling these tasks has emerged as an important area of focus for better visual understanding.…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

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…

Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…

Depth information available from an RGB-D camera can be useful in segmenting salient objects when figure/ground cues from RGB channels are weak. This has motivated the development of several RGB-D saliency datasets and algorithms that use…

We address the problem of people detection in RGB-D data where we leverage depth information to develop a region-of-interest (ROI) selection method that provides proposals to two color and depth CNNs. To combine the detections produced by…

Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…

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…

Providing machines with the ability to recognize objects like humans has always been one of the primary goals of machine vision. The introduction of RGB-D cameras has paved the way for a significant leap forward in this direction thanks to…

Deep learning based image segmentation methods have achieved great success, even having human-level accuracy in some applications. However, due to the black box nature of deep learning, the best method may fail in some situations. Thus…

Existing RGB-D saliency detection models do not explicitly encourage RGB and depth to achieve effective multi-modal learning. In this paper, we introduce a novel multi-stage cascaded learning framework via mutual information minimization to…

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…

Exploring an unfamiliar indoor environment and avoiding obstacles is challenging for visually impaired people. Currently, several approaches achieve the avoidance of static obstacles based on the mapping of indoor scenes. To solve the issue…

We present DFormer, a novel RGB-D pretraining framework to learn transferable representations for RGB-D segmentation tasks. DFormer has two new key innovations: 1) Unlike previous works that encode RGB-D information with RGB pretrained…

Monocular depth estimation is the task of obtaining a measure of distance for each pixel using a single image. It is an important problem in computer vision and is usually solved using neural networks. Though recent works in this area have…

Using the raw data from consumer-level RGB-D cameras as input, we propose a deep-learning based approach to efficiently generate RGB-D images with completed information in high resolution. To process the input images in low resolution with…

Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance…