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

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

3D semantic occupancy prediction has emerged as a critical perception task for autonomous driving due to its ability to offer voxel-level semantic and geometric understanding of the environment. However, such a refined representation for…

We propose the task of Panoptic Scene Completion (PSC) which extends the recently popular Semantic Scene Completion (SSC) task with instance-level information to produce a richer understanding of the 3D scene. Our PSC proposal utilizes a…

Scene parsing, or semantic segmentation, consists in labeling each pixel in an image with the category of the object it belongs to. It is a challenging task that involves the simultaneous detection, segmentation and recognition of all the…

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene…

We introduce Spatial Group Convolution (SGC) for accelerating the computation of 3D dense prediction tasks. SGC is orthogonal to group convolution, which works on spatial dimensions rather than feature channel dimension. It divides input…

An increasing amount of applications rely on data-driven models that are deployed for perception tasks across a sequence of scenes. Due to the mismatch between training and deployment data, adapting the model on the new scenes is often…

Supervised learning demands large amounts of precisely annotated data to achieve promising results. Such data curation is labor-intensive and imposes significant overhead regarding time and costs. Self-supervised learning (SSL) partially…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…

This paper investigates a fundamental problem of scene understanding: how to parse a scene image into a structured configuration (i.e., a semantic object hierarchy with object interaction relations). We propose a deep architecture…

Inferring a meaningful geometric scene representation from a single image is a fundamental problem in computer vision. Approaches based on traditional depth map prediction can only reason about areas that are visible in the image.…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

X-ray computed tomography (CT) is a widely used imaging technique that provides detailed examinations into the internal structure of an object with synchrotron CT (SR-CT) enabling improved data quality by using higher energy, monochromatic…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

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…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

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…