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

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…

This paper proposes a new glass segmentation method utilizing paired RGB and thermal images. Due to the large difference between the transmission property of visible light and that of the thermal energy through the glass where most glass is…

Indoor semantic segmentation is fundamental to computer vision and robotics, supporting applications such as autonomous navigation, augmented reality, and smart environments. Although RGB-D fusion leverages complementary appearance and…

Motivated by recent work on deep neural network (DNN)-based image compression methods showing potential improvements in image quality, savings in storage, and bandwidth reduction, we propose to perform image understanding tasks such as…

Automatic segmentation of fine-grained brain structures remains a challenging task. Current segmentation methods mainly utilize 2D and 3D deep neural networks. The 2D networks take image slices as input to produce coarse segmentation in…

Compared to RGB semantic segmentation, RGBD semantic segmentation can achieve better performance by taking depth information into consideration. However, it is still problematic for contemporary segmenters to effectively exploit RGBD…

We propose a novel superpixel-based multi-view convolutional neural network for semantic image segmentation. The proposed network produces a high quality segmentation of a single image by leveraging information from additional views of the…

Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…

Operating a robot in the open world requires a high level of robustness with respect to previously unseen environments. Optimally, the robot is able to adapt by itself to new conditions without human supervision, e.g., automatically…

Existing RGB-D salient object detection methods treat depth information as an independent component to complement its RGB part, and widely follow the bi-stream parallel network architecture. To selectively fuse the CNNs features extracted…

This paper addresses the problem of estimating the depth map of a scene given a single RGB image. We propose a fully convolutional architecture, encompassing residual learning, to model the ambiguous mapping between monocular images and…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

We present a single network method for panoptic segmentation. This method combines the predictions from a jointly trained semantic and instance segmentation network using heuristics. Joint training is the first step towards an end-to-end…

Recent advances in depth imaging sensors provide easy access to the synchronized depth with color, called RGB-D image. In this paper, we propose an unsupervised method for indoor RGB-D image segmentation and analysis. We consider a…

The raw depth image captured by the indoor depth sensor usually has an extensive range of missing depth values due to inherent limitations such as the inability to perceive transparent objects and limited distance range. The incomplete…

RGB-D semantic segmentation has attracted increasing attention over the past few years. Existing methods mostly employ homogeneous convolution operators to consume the RGB and depth features, ignoring their intrinsic differences. In fact,…

Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper,…

This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…