相关论文: Lightweight integration of 3D features to improve …

This paper proposes RIU-Net (for Range-Image U-Net), the adaptation of a popular semantic segmentation network for the semantic segmentation of a 3D LiDAR point cloud. The point cloud is turned into a 2D range-image by exploiting the…

Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…

Image segmentation is an essential component in many image processing and computer vision tasks. The primary goal of image segmentation is to simplify an image for easier analysis, and there are two broad approaches for achieving this: edge…

Recent advances in scene understanding benefit a lot from depth maps because of the 3D geometry information, especially in complex conditions (e.g., low light and overexposed). Existing approaches encode depth maps along with RGB images and…

Point cloud registration aims at estimating the geometric transformation between two point cloud scans, in which point-wise correspondence estimation is the key to its success. In addition to previous methods that seek correspondences by…

Traffic volume data collection is a crucial aspect of transportation engineering and urban planning, as it provides vital insights into traffic patterns, congestion, and infrastructure efficiency. Traditional manual methods of traffic data…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

We introduce a novel strategy for learning to extract semantically meaningful features from aerial imagery. Instead of manually labeling the aerial imagery, we propose to predict (noisy) semantic features automatically extracted from…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

Geometric estimation is required for scene understanding and analysis in panoramic 360{\deg} images. Current methods usually predict a single feature, such as depth or surface normal. These methods can lack robustness, especially when…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…

Given a 3D surface defined by an elevation function on a 2D grid as well as non-spatial features observed at each pixel, the problem of surface segmentation aims to classify pixels into contiguous classes based on both non-spatial features…

When 3D-point clouds from overhead sensors are used as input to remote sensing data exploitation pipelines, a large amount of effort is devoted to data preparation. Among the multiple stages of the preprocessing chain, estimating the…

Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

We present a novel approach to perform 3D semantic segmentation solely from 2D supervision by leveraging Neural Radiance Fields (NeRFs). By extracting features along a surface point cloud, we achieve a compact representation of the scene…

In recent years, deep natural image matting has been rapidly evolved by extracting high-level contextual features into the model. However, most current methods still have difficulties with handling tiny details, like hairs or furs. In this…