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

Multimodal perception systems for robotics and embodied AI often assume reliable RGB-D sensing, but in practice, depth is frequently missing, noisy, or corrupted. We thus present GeomPrompt, a lightweight cross-modal adaptation module that…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

Predicting the future is an important aspect for decision-making in robotics or autonomous driving systems, which heavily rely upon visual scene understanding. While prior work attempts to predict future video pixels, anticipate activities…

The RGB-Depth (RGB-D) Video Object Segmentation (VOS) aims to integrate the fine-grained texture information of RGB with the spatial geometric clues of depth modality, boosting the performance of segmentation. However, off-the-shelf RGB-D…

Segmenting unseen objects is a crucial ability for the robot since it may encounter new environments during the operation. Recently, a popular solution is leveraging RGB-D features of large-scale synthetic data and directly applying the…

A novel deep neural network training paradigm that exploits the conjoint information in multiple heterogeneous sources is proposed. Specifically, in a RGB-D based action recognition task, it cooperatively trains a single convolutional…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

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…

Panoptic segmentation, which needs to assign a category label to each pixel and segment each object instance simultaneously, is a challenging topic. Traditionally, the existing approaches utilize two independent models without sharing…

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…

Surface crack segmentation poses a challenging computer vision task as background, shape, colour and size of cracks vary. In this work we propose optimized deep encoder-decoder methods consisting of a combination of techniques which yield…

Single image depth estimation (SIDE) plays a crucial role in 3D computer vision. In this paper, we propose a two-stage robust SIDE framework that can perform blind SIDE for both indoor and outdoor scenes. At the first stage, the scene…

Remotely captured images possess an immense scale and object appearance variability due to the complex scene. It becomes challenging to capture the underlying attributes in the global and local context for their segmentation. Existing…

Geometric 3D scene classification is a very challenging task. Current methodologies extract the geometric information using only a depth channel provided by an RGB-D sensor. These kinds of methodologies introduce possible errors due to…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is…

With recent advances in RGB-D sensing technologies as well as improvements in machine learning and fusion techniques, RGB-D facial recognition has become an active area of research. A novel attention aware method is proposed to fuse two…

Most existing RGB-D semantic segmentation methods focus on the feature level fusion, including complex cross-modality and cross-scale fusion modules. However, these methods may cause misalignment problem in the feature fusion process and…