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

In this paper, we propose an end-to-end deep learning network named 3dDepthNet, which produces an accurate dense depth image from a single pair of sparse LiDAR depth and color image for robotics and autonomous driving tasks. Based on the…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

In this paper, we present ViP-DeepLab, a unified model attempting to tackle the long-standing and challenging inverse projection problem in vision, which we model as restoring the point clouds from perspective image sequences while…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Recently, diffusion models have demonstrated impressive capabilities in text-guided and image-conditioned image generation. However, existing diffusion models cannot simultaneously generate an image and a panoptic segmentation of objects…

Cutting-edge connected vehicle (CV) technologies have drawn much attention in recent years. The real-time traffic data captured by a CV can be shared with other CVs and data centers so as to open new possibilities for solving diverse…

A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…

Object location is fundamental to panoptic segmentation as it is related to all things and stuff in the image scene. Knowing the locations of objects in the image provides clues for segmenting and helps the network better understand the…

Real-time holistic scene understanding would allow machines to interpret their surrounding in a much more detailed manner than is currently possible. While panoptic image segmentation methods have brought image segmentation closer to this…

We propose PanopticFusion, a novel online volumetric semantic mapping system at the level of stuff and things. In contrast to previous semantic mapping systems, PanopticFusion is able to densely predict class labels of a background region…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Depth completion aims at predicting dense pixel-wise depth from an extremely sparse map captured from a depth sensor, e.g., LiDARs. It plays an essential role in various applications such as autonomous driving, 3D reconstruction, augmented…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

From the autonomous car driving to medical diagnosis, the requirement of the task of image segmentation is everywhere. Segmentation of an image is one of the indispensable tasks in computer vision. This task is comparatively complicated…

The Segment Anything Model (SAM) has demonstrated its effectiveness in segmenting any part of 2D RGB images. However, SAM exhibits a stronger emphasis on texture information while paying less attention to geometry information when…

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…

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…

Panoptic segmentation combines instance and semantic predictions, allowing the detection of "things" and "stuff" simultaneously. Effectively approaching panoptic segmentation in remotely sensed data can be auspicious in many challenging…

We present a single-shot, bottom-up approach for whole image parsing. Whole image parsing, also known as Panoptic Segmentation, generalizes the tasks of semantic segmentation for 'stuff' classes and instance segmentation for 'thing'…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…