相关论文: PanDepth: Joint Panoptic Segmentation and Depth Co…

We present Panoptic-DeepLab, a bottom-up and single-shot approach for panoptic segmentation. Our Panoptic-DeepLab is conceptually simple and delivers state-of-the-art results. In particular, we adopt the dual-ASPP and dual-decoder…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

Multi-task visual perception has a wide range of applications in scene understanding such as autonomous driving. In this work, we devise an efficient unified framework to solve multiple common perception tasks, including instance…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

We propose the task of Panoptic Scene Completion (PSC) which extends the recently popular Semantic Scene Completion (SSC) task with instance-level information to produce a richer understanding of the 3D scene. Our PSC proposal utilizes a…

In this work, we introduce the new scene understanding task of Part-aware Panoptic Segmentation (PPS), which aims to understand a scene at multiple levels of abstraction, and unifies the tasks of scene parsing and part parsing. For this…

This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

Open-vocabulary panoptic reconstruction is a challenging task for simultaneous scene reconstruction and understanding. Recently, methods have been proposed for 3D scene understanding based on Gaussian splatting. However, these methods are…

The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…

In this paper, we propose a learning-based method for predicting dense depth values of a scene from a monocular omnidirectional image. An omnidirectional image has a full field-of-view, providing much more complete descriptions of the scene…

The depth completion task is a critical problem in autonomous driving, involving the generation of dense depth maps from sparse depth maps and RGB images. Most existing methods employ a spatial propagation network to iteratively refine the…

In order to ensure safe autonomous driving, precise information about the conditions in and around the vehicle must be available. Accordingly, the monitoring of occupants and objects inside the vehicle is crucial. In the state-of-the-art,…

Semantic scene completion is the task of predicting a complete 3D representation of volumetric occupancy with corresponding semantic labels for a scene from a single point of view. Previous works on Semantic Scene Completion from RGB-D data…

Despite advancements in self-supervised monocular depth estimation, challenges persist in dynamic scenarios due to the dependence on assumptions about a static world. In this paper, we present Manydepth2, to achieve precise depth estimation…

In this paper, we present a novel approach, called Deep MANTA (Deep Many-Tasks), for many-task vehicle analysis from a given image. A robust convolutional network is introduced for simultaneous vehicle detection, part localization,…

At the heart of all automated driving systems is the ability to sense the surroundings, e.g., through semantic segmentation of LiDAR sequences, which experienced a remarkable progress due to the release of large datasets such as…

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

RGB-guided depth completion aims at predicting dense depth maps from sparse depth measurements and corresponding RGB images, where how to effectively and efficiently exploit the multi-modal information is a key issue. Guided dynamic…