相关论文: DFormer: Rethinking RGBD Representation Learning f…

Benefiting from the spatial cues embedded in depth images, recent progress on RGB-D saliency detection shows impressive ability on some challenge scenarios. However, there are still two limitations. One hand is that the pooling and…

Decoupling spatiotemporal representation refers to decomposing the spatial and temporal features into dimension-independent factors. Although previous RGB-D-based motion recognition methods have achieved promising performance through the…

Image segmentation is often ambiguous at the level of individual image patches and requires contextual information to reach label consensus. In this paper we introduce Segmenter, a transformer model for semantic segmentation. In contrast to…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

RGB-D salient object detection (SOD) recently has attracted increasing research interest by benefiting conventional RGB SOD with extra depth information. However, existing RGB-D SOD models often fail to perform well in terms of both…

Indoor scene semantic parsing from RGB images is very challenging due to occlusions, object distortion, and viewpoint variations. Going beyond prior works that leverage geometry information, typically paired depth maps, we present a new…

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…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

Current RGB-D methods usually leverage large-scale backbones to improve accuracy but sacrifice efficiency. Meanwhile, several existing lightweight methods are difficult to achieve high-precision performance. To balance the efficiency and…

Deep learning approaches to generic (non-semantic) segmentation have so far been indirect and relied on edge detection. This is in contrast to semantic segmentation, where DNNs are applied directly. We propose an alternative approach called…

In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

In construction quality monitoring, accurately detecting and segmenting cracks in concrete structures is paramount for safety and maintenance. Current convolutional neural networks (CNNs) have demonstrated strong performance in crack…

Transformers, the de-facto standard for language modeling, have been recently applied for vision tasks. This paper introduces sparse queries for vision transformers to exploit the intrinsic spatial redundancy of natural images and save…

Accurate 3D lane segment detection and topology reasoning are critical for structured online map construction in autonomous driving. Recent transformer-based approaches formulate this task as query-based set prediction, yet largely inherit…

We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it…

In this work, we propose to utilize Convolutional Neural Networks to boost the performance of depth-induced salient object detection by capturing the high-level representative features for depth modality. We formulate the depth-induced…

RGB-D SOD uses depth information to handle challenging scenes and obtain high-quality saliency maps. Existing state-of-the-art RGB-D saliency detection methods overwhelmingly rely on the strategy of directly fusing depth information.…

Humans can easily imagine the complete 3D geometry of occluded objects and scenes. This appealing ability is vital for recognition and understanding. To enable such capability in AI systems, we propose VoxFormer, a Transformer-based…

Depth information has proven to be a useful cue in the semantic segmentation of RGB-D images for providing a geometric counterpart to the RGB representation. Most existing works simply assume that depth measurements are accurate and…