相关论文: A Deep Learning-based Global and Segmentation-base…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Video semantic segmentation aims to generate accurate semantic maps for each video frame. To this end, many works dedicate to integrate diverse information from consecutive frames to enhance the features for prediction, where a feature…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…

The Structure from Motion (SfM) challenge in computer vision is the process of recovering the 3D structure of a scene from a series of projective measurements that are calculated from a collection of 2D images, taken from different…

Semantic segmentation has made encouraging progress due to the success of deep convolutional networks in recent years. Meanwhile, depth sensors become prevalent nowadays, so depth maps can be acquired more easily. However, there are few…

Many works in the recent literature introduce semantic mapping methods that use CNNs (Convolutional Neural Networks) to recognize semantic properties in images. The types of properties (eg.: room size, place category, and objects) and their…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

The classification of indoor scenes is a critical component in various applications, such as intelligent robotics for assistive living. While deep learning has significantly advanced this field, models often suffer from reduced performance…

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…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…

Scene depth information can help visual information for more accurate semantic segmentation. However, how to effectively integrate multi-modality information into representative features is still an open problem. Most of the existing work…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

Remote sensing image captioning aims to generate semantically accurate descriptions that are closely linked to the visual features of remote sensing images. Existing approaches typically emphasize fine-grained extraction of visual features…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

Semantic segmentation is pixel-wise classification which retains critical spatial information. The "feature map reuse" has been commonly adopted in CNN based approaches to take advantage of feature maps in the early layers for the later…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

The semantic image segmentation task consists of classifying each pixel of an image into an instance, where each instance corresponds to a class. This task is a part of the concept of scene understanding or better explaining the global…