相关论文: Multi-task Planar Reconstruction with Feature Warp…

We propose a novel 3D point cloud segmentation framework named SASO, which jointly performs semantic and instance segmentation tasks. For semantic segmentation task, inspired by the inherent correlation among objects in spatial context, we…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

In this paper, we propose a training scheme called OVSeg3R to learn open-vocabulary 3D instance segmentation from well-studied 2D perception models with the aid of 3D reconstruction. OVSeg3R directly adopts reconstructed scenes from 2D…

Highly multiplexed microscopy enables rich spatial characterization of tissues at single-cell resolution, yet most analyses rely on two-dimensional sections despite inherently three-dimensional tissue organization. Acquiring dense…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

In many robotic applications, especially for the autonomous driving, understanding the semantic information and the geometric structure of surroundings are both essential. Semantic 3D maps, as a carrier of the environmental knowledge, are…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…

Single-image 3D reconstruction is a research challenge focused on predicting 3D object shapes from single-view images. This task requires significant data acquisition to predict both visible and occluded portions of the shape. Furthermore,…

Recent state-of-the-art one-stage instance segmentation model SOLO divides the input image into a grid and directly predicts per grid cell object masks with fully-convolutional networks, yielding comparably good performance as traditional…

Object-level 3D reconstruction play important roles across domains such as cultural heritage digitization, industrial manufacturing, and virtual reality. However, existing Gaussian Splatting-based approaches generally rely on full-scene…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Reconstruction based on the stereo camera has received considerable attention recently, but two particular challenges still remain. The first concerns the need to aggregate similar pixels in an effective approach, and the second is to…

Segmentation of planar regions from a single RGB image is a particularly important task in the perception of complex scenes. To utilize both visual and geometric properties in images, recent approaches often formulate the problem as a joint…

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…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

When approaching the semantic segmentation of overhead imagery in the decimeter spatial resolution range, successful strategies usually combine powerful methods to learn the visual appearance of the semantic classes (e.g. convolutional…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…

Compared to many other dense prediction tasks, e.g., semantic segmentation, it is the arbitrary number of instances that has made instance segmentation much more challenging. In order to predict a mask for each instance, mainstream…