相关论文: Semantic Scene Completion with Cleaner Self

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Semantic Scene Completion (SSC) is pivotal in autonomous driving perception, frequently confronted with the complexities of weather and illumination changes. The long-term strategy involves fusing multi-modal information to bolster the…

Numerous studies have investigated the pivotal role of reliable 3D volume representation in scene perception tasks, such as multi-view stereo (MVS) and semantic scene completion (SSC). They typically construct 3D probability volumes…

Camera-based 3D semantic scene completion (SSC) is pivotal for predicting complicated 3D layouts with limited 2D image observations. The existing mainstream solutions generally leverage temporal information by roughly stacking history…

Vision-centric 3D environment understanding is both vital and challenging for autonomous driving systems. Recently, object-free methods have attracted considerable attention. Such methods perceive the world by predicting the semantics of…

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…

Computer graphics, 3D computer vision and robotics communities have produced multiple approaches to representing 3D geometry for rendering and reconstruction. These provide trade-offs across fidelity, efficiency and compression…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

Semantic information has been proved effective in scene text recognition. Most existing methods tend to couple both visual and semantic information in an attention-based decoder. As a result, the learning of semantic features is prone to…

Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…

Semantic Scene Completion (SSC) refers to the task of inferring the 3D semantic segmentation of a scene while simultaneously completing the 3D shapes. We propose PALNet, a novel hybrid network for SSC based on single depth. PALNet utilizes…

Semantic Scene Completion (SSC) aims to perform geometric completion and semantic segmentation simultaneously. Despite the promising results achieved by existing studies, the inherently ill-posed nature of the task presents significant…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

In this paper, we present an approach, namely Lexical Semantic Image Completion (LSIC), that may have potential applications in art, design, and heritage conservation, among several others. Existing image completion procedure is highly…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

We present a novel 3D shape completion framework that unifies multimodal conditioning, leveraging both 2D images and 3D partial scans through a latent diffusion model. Shapes are represented as Truncated Signed Distance Functions (TSDFs)…

Reconstructing 3D vehicles from noisy and sparse partial point clouds is of great significance to autonomous driving. Most existing 3D reconstruction methods cannot be directly applied to this problem because they are elaborately designed…

Recent camera-based 3D semantic scene completion (SSC) methods have increasingly explored leveraging temporal cues to enrich the features of the current frame. However, while these approaches primarily focus on enhancing in-frame regions,…

The neural implicit representation has shown its effectiveness in novel view synthesis and high-quality 3D reconstruction from multi-view images. However, most approaches focus on holistic scene representation yet ignore individual objects…