相关论文: Towards accurate instance segmentation in large-sc…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Panoptic segmentation is a complex full scene parsing task requiring simultaneous instance and semantic segmentation at high resolution. Current state-of-the-art approaches cannot run in real-time, and simplifying these architectures to…

Forecasting the semantics and 3D structure of scenes is essential for robots to navigate and plan actions safely. Recent methods have explored semantic and panoptic scene forecasting; however, they do not consider the geometry of the scene.…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…

This work addresses the task of instance-aware semantic segmentation. Our key motivation is to design a simple method with a new modelling-paradigm, which therefore has a different trade-off between advantages and disadvantages compared to…

Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…

This paper presents a novel framework to integrate both semantic and instance contexts for panoptic segmentation. In existing works, it is common to use a shared backbone to extract features for both things (countable classes such as…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

The segmentation of individual trees from forest point clouds is a crucial task for downstream analyses such as carbon sequestration estimation. Recently, deep-learning-based methods have been proposed which show the potential of learning…

Automatic instance segmentation is a problem that occurs in many biomedical applications. State-of-the-art approaches either perform semantic segmentation or refine object bounding boxes obtained from detection methods. Both suffer from…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

Instance segmentation is an important task for biomedical and biological image analysis. Due to the complicated background components, the high variability of object appearances, numerous overlapping objects, and ambiguous object…

We propose a new and, arguably, a very simple reduction of instance segmentation to semantic segmentation. This reduction allows to train feed-forward non-recurrent deep instance segmentation systems in an end-to-end fashion using…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

Instance segmentation in 3D scenes is fundamental in many applications of scene understanding. It is yet challenging due to the compound factors of data irregularity and uncertainty in the numbers of instances. State-of-the-art methods…

Instance segmentation is the problem of detecting and delineating each distinct object of interest appearing in an image. Current instance segmentation approaches consist of ensembles of modules that are trained independently of each other,…

Collecting image annotations remains a significant burden when deploying CNN in a specific applicative context. This is especially the case when the annotation consists in binary masks covering object instances. Our work proposes to…

We propose an end-to-end learning approach for panoptic segmentation, a novel task unifying instance (things) and semantic (stuff) segmentation. Our model, TASCNet, uses feature maps from a shared backbone network to predict in a single…