相关论文: HSCNet++: Hierarchical Scene Coordinate Classifica…

This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Representing scenes at the granularity of objects is a prerequisite for scene understanding and decision making. We propose PriSMONet, a novel approach based on Prior Shape knowledge for learning Multi-Object 3D scene decomposition and…

Advances in deep learning techniques have allowed recent work to reconstruct the shape of a single object given only one RBG image as input. Building on common encoder-decoder architectures for this task, we propose three extensions: (1)…

Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization methods such as feature matching require computationally intensive…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Traditional Scene Understanding problems such as Object Detection and Semantic Segmentation have made breakthroughs in recent years due to the adoption of deep learning. However, the former task is not able to localise objects at a pixel…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

In this paper, we address the dataset scarcity issue with the hyperspectral image classification. As only a few thousands of pixels are available for training, it is difficult to effectively learn high-capacity Convolutional Neural Networks…

We present a novel real-time capable learning method that jointly perceives a 3D scene's geometry structure and semantic labels. Recent approaches to real-time 3D scene reconstruction mostly adopt a volumetric scheme, where a Truncated…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

This paper presents GridNet, a new Convolutional Neural Network (CNN) architecture for semantic image segmentation (full scene labelling). Classical neural networks are implemented as one stream from the input to the output with subsampling…

Road scene understanding is a critical component in an autonomous driving system. Although the deep learning-based road scene segmentation can achieve very high accuracy, its complexity is also very high for developing real-time…

This paper addresses a fundamental problem of scene understanding: How to parse the scene image into a structured configuration (i.e., a semantic object hierarchy with object interaction relations) that finely accords with human perception.…

Determining the exact latitude and longitude that a photo was taken is a useful and widely applicable task, yet it remains exceptionally difficult despite the accelerated progress of other computer vision tasks. Most previous approaches…

Training convolutional networks for semantic segmentation requires per-pixel ground truth labels, which are very time consuming and hence costly to obtain. Therefore, in this work, we research and develop a hierarchical deep network…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Enhancing the quality of low-light images plays a very important role in many image processing and multimedia applications. In recent years, a variety of deep learning techniques have been developed to address this challenging task. A…

Estimating scene flow in RGB-D videos is attracting much interest of the computer vision researchers, due to its potential applications in robotics. The state-of-the-art techniques for scene flow estimation, typically rely on the knowledge…