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

Surgical scene understanding is a key technical component for enabling intelligent and context aware systems that can transform various aspects of surgical interventions. In this work, we focus on the semantic segmentation task, propose a…

The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…

Depth imaging is a crucial area in Autonomous Driving Systems (ADS), as it plays a key role in detecting and measuring objects in the vehicle's surroundings. However, a significant challenge in this domain arises from missing information in…

Monocular geometric scene understanding combines panoptic segmentation and self-supervised depth estimation, focusing on real-time application in autonomous vehicles. We introduce MGNiceNet, a unified approach that uses a linked kernel…

Semantic segmentation is essentially important to biomedical image analysis. Many recent works mainly focus on integrating the Fully Convolutional Network (FCN) architecture with sophisticated convolution implementation and deep…

Single-task learning in artificial neural networks will be able to learn the model very well, and the benefits brought by transferring knowledge thus become limited. In this regard, when the number of tasks increases (e.g., semantic…

Multi-modal systems have the capacity of producing more reliable results than systems with a single modality in road detection due to perceiving different aspects of the scene. We focus on using raw sensor inputs instead of, as it is…

Surround View fisheye cameras are commonly deployed in automated driving for 360\deg{} near-field sensing around the vehicle. This work presents a multi-task visual perception network on unrectified fisheye images to enable the vehicle to…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes them unsuitable for deployment on…

Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…

The importance and demands of visual scene understanding have been steadily increasing along with the active development of autonomous systems. Consequently, there has been a large amount of research dedicated to semantic segmentation and…

We propose an end-to-end Multitask Learning Transformer framework, named MulT, to simultaneously learn multiple high-level vision tasks, including depth estimation, semantic segmentation, reshading, surface normal estimation, 2D keypoint…

3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However,…

Dense depth perception is critical for autonomous driving and other robotics applications. However, modern LiDAR sensors only provide sparse depth measurement. It is thus necessary to complete the sparse LiDAR data, where a synchronized…

In this work, we introduce DeepIPC, a novel end-to-end model tailored for autonomous driving, which seamlessly integrates perception and control tasks. Unlike traditional models that handle these tasks separately, DeepIPC innovatively…

Inferring the 3D geometry and the semantic meaning of surfaces, which are occluded, is a very challenging task. Recently, a first end-to-end learning approach has been proposed that completes a scene from a single depth image. The approach…

Unsupervised panoptic segmentation aims to partition an image into semantically meaningful regions and distinct object instances without training on manually annotated data. In contrast to prior work on unsupervised panoptic scene…

Comprehensive panoramic scene understanding is critical for immersive applications, yet it remains challenging due to the scarcity of high-resolution, multi-task annotations. While perspective foundation models have achieved success through…

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth…