相关论文: Efficient Multi-Task Scene Analysis with RGB-D Tra…

Semantic scene completion is the task of predicting a complete 3D representation of volumetric occupancy with corresponding semantic labels for a scene from a single point of view. Previous works on Semantic Scene Completion from RGB-D data…

RGB-D saliency detection integrates information from both RGB images and depth maps to improve prediction of salient regions under challenging conditions. The key to RGB-D saliency detection is to fully mine and fuse information at multiple…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Scene understanding for autonomous vehicles is a challenging computer vision task, with recent advances in convolutional neural networks (CNNs) achieving results that notably surpass prior traditional feature driven approaches. However,…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

The perception system in personalized mobile agents requires developing indoor scene understanding models, which can understand 3D geometries, capture objectiveness, analyze human behaviors, etc. Nonetheless, this direction has not been…

This paper presents an investigation into the estimation of optical and scene flow using RGBD information in scenarios where the RGB modality is affected by noise or captured in dark environments. Existing methods typically rely solely on…

In recent years, vision transformers with text decoder have demonstrated remarkable performance on Scene Text Recognition (STR) due to their ability to capture long-range dependencies and contextual relationships with high learning…

Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…

Cross-modal transfer is helpful to enhance modality-specific discriminative power for scene recognition. To this end, this paper presents a unified framework to integrate the tasks of cross-modal translation and modality-specific…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

We present DFormer, a novel RGB-D pretraining framework to learn transferable representations for RGB-D segmentation tasks. DFormer has two new key innovations: 1) Unlike previous works that encode RGB-D information with RGB pretrained…

Accurate and efficient brain tumor segmentation remains a critical challenge in neuroimaging due to the heterogeneous nature of tumor subregions and the high computational cost of volumetric inference. In this paper, we propose…

Depth completion aims to predict dense depth maps with sparse depth measurements from a depth sensor. Currently, Convolutional Neural Network (CNN) based models are the most popular methods applied to depth completion tasks. However,…

In the pursuit of achieving ever-increasing accuracy, large and complex neural networks are usually developed. Such models demand high computational resources and therefore cannot be deployed on edge devices. It is of great interest to…

Existing RGB-D SOD methods mainly rely on a symmetric two-stream CNN-based network to extract RGB and depth channel features separately. However, there are two problems with the symmetric conventional network structure: first, the ability…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

Capturing and reconstructing high-speed dynamic 3D scenes has numerous applications in computer graphics, vision, and interdisciplinary fields such as robotics, aerodynamics, and evolutionary biology. However, achieving this using a single…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…