相关论文: 3D Indoor Instance Segmentation in an Open-World

Open-world and anomaly segmentation methods seek to enable autonomous driving systems to detect and segment both known and unknown objects in real-world scenes. However, existing methods do not assign semantically meaningful labels to…

Semantic segmentation approaches are typically trained on large-scale data with a closed finite set of known classes without considering unknown objects. In certain safety-critical robotics applications, especially autonomous driving, it is…

Class-agnostic counting (CAC) has numerous potential applications across various domains. The goal is to count objects of an arbitrary category during testing, based on only a few annotated exemplars. In this paper, we point out that the…

This paper presents the first attempt to learn semantic boundary detection using image-level class labels as supervision. Our method starts by estimating coarse areas of object classes through attentions drawn by an image classification…

Traditional semantic segmentation methods can recognize at test time only the classes that are present in the training set. This is a significant limitation, especially for semantic segmentation algorithms mounted on intelligent autonomous…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Traditional semi-supervised learning tasks assume that both labeled and unlabeled data follow the same class distribution, but the realistic open-world scenarios are of more complexity with unknown novel classes mixed in the unlabeled set.…

Semantic segmentation is a crucial component for perception in automated driving. Deep neural networks (DNNs) are commonly used for this task and they are usually trained on a closed set of object classes appearing in a closed operational…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

This paper presents a novel approach for learning instance segmentation with image-level class labels as supervision. Our approach generates pseudo instance segmentation labels of training images, which are used to train a fully supervised…

3D semantic segmentation (3DSS) is an essential process in the creation of a safe autonomous driving system. However, deep learning models for 3D semantic segmentation often suffer from the class imbalance problem and out-of-distribution…

We introduce a novel robotic system for improving unseen object instance segmentation in the real world by leveraging long-term robot interaction with objects. Previous approaches either grasp or push an object and then obtain the…

While deep learning strategies achieve outstanding results in computer vision tasks, one issue remains: The current strategies rely heavily on a huge amount of labeled data. In many real-world problems, it is not feasible to create such an…

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…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

Category discovery (CD) is an emerging open-world learning task, which aims at automatically categorizing unlabelled data containing instances from unseen classes, given some labelled data from seen classes. This task has attracted…

Existing semi-supervised learning (SSL) methods assume that labeled and unlabeled data share the same class space. However, in real-world applications, unlabeled data always contain classes not present in the labeled set, which may cause…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

Open-world instance segmentation is a rising task, which aims to segment all objects in the image by learning from a limited number of base-category objects. This task is challenging, as the number of unseen categories could be hundreds of…