相关论文: Spatial-information Guided Adaptive Context-aware …

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

High-quality semantic segmentation relies on three key capabilities: global context modeling, local detail encoding, and multi-scale feature extraction. However, recent methods struggle to possess all these capabilities simultaneously.…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

This paper proposes a new method called Multimodal RNNs for RGB-D scene semantic segmentation. It is optimized to classify image pixels given two input sources: RGB color channels and Depth maps. It simultaneously performs training of two…

Semantic segmentation is essential for analyzing highdefinition remote sensing images (HRSIs) because it allows the precise classification of objects and regions at the pixel level. However, remote sensing data present challenges owing to…

Existing semantic segmentation approaches either aim to improve the object's inner consistency by modeling the global context, or refine objects detail along their boundaries by multi-scale feature fusion. In this paper, a new paradigm for…

RGB-based semantic segmentation has become a mainstream approach for visual perception and is widely applied in a variety of downstream tasks. However, existing methods typically rely on high-resolution RGB inputs, which may expose…

In this paper, we proposed an end-to-end realtime global attention neural network (RGANet) for the challenging task of semantic segmentation. Different from the encoding strategy deployed by self-attention paradigms, the proposed global…

How to effectively fuse cross-modal information is the key problem for RGB-D salient object detection. Early fusion and the result fusion schemes fuse RGB and depth information at the input and output stages, respectively, hence incur the…

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…

Real-time semantic segmentation, which aims to achieve high segmentation accuracy at real-time inference speed, has received substantial attention over the past few years. However, many state-of-the-art real-time semantic segmentation…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

For intelligent robotics applications, extending 3D mapping to 3D semantic mapping enables robots to, not only localize themselves with respect to the scene's geometrical features but also simultaneously understand the higher level meaning…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

RGB and thermal image fusion have great potential to exhibit improved semantic segmentation in low-illumination conditions. Existing methods typically employ a two-branch encoder framework for multimodal feature extraction and design…

Due to the powerful ability to encode image details and semantics, many lightweight dual-resolution networks have been proposed in recent years. However, most of them ignore the benefit of boundary information. This paper introduces a…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

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,…

Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…