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

This paper presents a GPU implementation of two foreground object segmentation algorithms: Gaussian Mixture Model (GMM) and Pixel Based Adaptive Segmenter (PBAS) modified for RGB-D data support. The simultaneous use of colour (RGB) and…

The efficacy of building footprint segmentation from remotely sensed images has been hindered by model transfer effectiveness. Many existing building segmentation methods were developed upon the encoder-decoder architecture of U-Net, in…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

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…

Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from…

The ability to learn robust policies while generalizing over large discrete action spaces is an open challenge for intelligent systems, especially in noisy environments that face the curse of dimensionality. In this paper, we present a…

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…

Amodal panoptic segmentation aims to connect the perception of the world to its cognitive understanding. It entails simultaneously predicting the semantic labels of visible scene regions and the entire shape of traffic participant…

Panoptic segmentation is an important computer vision task, where the current state-of-the-art solutions require specialized components to perform well. We propose a simple generalist framework based on a deep encoder - shallow decoder…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

We present the self-encoder, a neural network trained to guess the identity of each data sample. Despite its simplicity, it learns a very useful representation of data, in a self-supervised way. Specifically, the self-encoder learns to…

We propose a fully differentiable architecture for simultaneous semantic and instance segmentation (a.k.a. panoptic segmentation) consisting of a convolutional neural network and an asymmetric multiway cut problem solver. The latter solves…

Recent researches on panoptic segmentation resort to a single end-to-end network to combine the tasks of instance segmentation and semantic segmentation. However, prior models only unified the two related tasks at the architectural level…

This paper presents a unified framework for depth-aware panoptic segmentation (DPS), which aims to reconstruct 3D scene with instance-level semantics from one single image. Prior works address this problem by simply adding a dense depth…

Action recognition from an egocentric viewpoint is a crucial perception task in robotics and enables a wide range of human-robot interactions. While most computer vision approaches prioritize the RGB camera, the Depth modality - which can…

In the context of robotic grasping, object segmentation encounters several difficulties when faced with dynamic conditions such as real-time operation, occlusion, low lighting, motion blur, and object size variability. In response to these…