相关论文: S4C: Self-Supervised Semantic Scene Completion wit…

Comprehensive semantic segmentation is one of the key components for robust scene understanding and a requirement to enable autonomous driving. Driven by large scale datasets, convolutional neural networks show impressive results on this…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

Learning-based methods for 3D scene reconstruction and object completion require large datasets containing partial scans paired with complete ground-truth geometry. However, acquiring such datasets using real-world scanning systems is…

The semantic synthesis of unseen scenes from multiple viewpoints is crucial for research in 3D scene understanding. Current methods are capable of rendering novel-view images and semantic maps by reconstructing generalizable Neural Radiance…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

State-of-the-art neural implicit surface representations have achieved impressive results in indoor scene reconstruction by incorporating monocular geometric priors as additional supervision. However, we have observed that multi-view…

Vision-centric 3D environment understanding is both vital and challenging for autonomous driving systems. Recently, object-free methods have attracted considerable attention. Such methods perceive the world by predicting the semantics of…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

The ability for computational agents to reason about the high-level content of real world scene images is important for many applications. Existing attempts at addressing the problem of complex scene understanding lack representational…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

This paper describes a fast and accurate semantic image segmentation approach that encodes not only the discriminative features from deep neural networks, but also the high-order context compatibility among adjacent objects as well as low…

Semantic Scene Completion (SSC) aims to infer complete 3D geometry and semantics from monocular images, serving as a crucial capability for camera-based perception in autonomous driving. However, existing SSC methods relying on temporal…

Learning semantic segmentation models under image-level supervision is far more challenging than under fully supervised setting. Without knowing the exact pixel-label correspondence, most weakly-supervised methods rely on external models to…

We introduce S2C-3D, a novel sparse-view 3D reconstruction framework for high-fidelity and complete scene reconstruction from as few as six to eight images. Our framework features three components: a specialized diffusion model for…

3D instance segmentation is fundamental to geometric understanding of the world around us. Existing methods for instance segmentation of 3D scenes rely on supervision from expensive, manual 3D annotations. We propose UnScene3D, the first…

Reconstructing detailed 3D scenes from single-view images remains a challenging task due to limitations in existing approaches, which primarily focus on geometric shape recovery, overlooking object appearances and fine shape details. To…